초록 ▼

Described is an automatic control system for land (and possible marine) vehicles based on carrier phase differential GPS (CPGPS). The system relies on CPGPS to determine vehicle position and attitude very precisely (position to within 1 cm and attitude to within 0.1.degree.). A system incorporates a

Described is an automatic control system for land (and possible marine) vehicles based on carrier phase differential GPS (CPGPS). The system relies on CPGPS to determine vehicle position and attitude very precisely (position to within 1 cm and attitude to within 0.1.degree.). A system incorporates a technique to calculate and compensate for antenna motion due to vehicle roll and pitch. One aspect of the system utilizes an intelligent vehicle controller that recognizes and adapts to changing conditions, such as vehicle speed, implements towed by the vehicle, soil conditions, and disturbance level. The system provides the capability to control the vehicle on various paths, including straight lines and arbitrary curves. Also described is a technique for initialization and vehicle control using only a single pseudolite.

대표청구항 ▼

[ What is claimed is:] [1.] A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle a

[ What is claimed is:] [1.] A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;vehicle steering control means for selectively changing the state of the vehicle;a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;means for providing a wireless communications channel between the reference station and the vehicle;means to calculate values defining the attitude of the vehicle based on phase differences received at the GPS antennas; andprocessing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state.