WHITEHEAD, MICHEAL L.,MCCLURE, JOHN A.,FELLER, WALTER J.
申请号：
CA2730403
公开号：
CA2730403C
申请日:
2009.07.07
申请国别(地区):
CA
年份:
2015
代理人:
摘要：
A global navigation satellite sensor system (GNSS) and gyroscope controlsystem for vehiclesteering control comprising a GNSS receiver and antennas at a fixed spacing todeterminea vehicle position, velocity and at least one of a heading angle, a pitchangle and a roll anglebased on carrier phase position differences. The roll angle facilitatescorrection of the lateralmotion induced position errors resultant from motion of the antennae as thevehicle movesbased on an offset to ground and the roll angle. The system also includes acontrol systemconfigured to receive the vehicle position, heading, and at least one of rolland pitch, andconfigured to generate a steering command to a vehicle steering system. Thesystemincludes gyroscopes for determining system attitude change with respect tomultiple axesfor integrating with GNSS-derived positioning information to determine vehicleposition,velocity, rate-of-turn, attitude and other operating characteristics. Avehicle control methodincludes the steps of computing a position and a heading for the vehicle usingGNSSpositioning and a rate gyro for determining vehicle attitude, which is usedfor generating asteering command.
