GNSS-INS Integrated Auto-Steering for Agricultural Vehicles
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Solution Overview
Problem
Current automated agricultural vehicle guidance systems using GNSS technology face challenges in navigating irregular terrain and maintaining accuracy due to satellite signal interference and natural crop row irregularities, leading to potential crop damage and operational inefficiencies.
Innovation Solution
A system combining GNSS with an electrical auto-steering mechanism connected to the steering column, incorporating a vector position and heading sensor subsystem and inertial navigation, allowing for automatic control with manual override and data logging for field-specific guidance, using a microprocessor-based controller to process inputs and adjust steering accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If GNSS-based automatic steering is used to guide agricultural vehicles, then navigation automation and operational efficiency are improved, but accuracy deteriorates due to satellite signal interference and atmospheric conditions
Solution Approach 1:
The patent combines GNSS receiver with inertial navigation system (INS) components including gyroscopes and accelerometers into an integrated navigation system. The GNSS provides global position data while the INS provides continuous local position, velocity, and attitude data through inertial sensors. By merging these systems, the patent achieves high-accuracy positioning that compensates for GNSS signal interference and atmospheric conditions, maintaining both automation and precision.
Solution Approach 2:
The inertial navigation system acts as an intermediary between GNSS signals and the automatic steering control. When GNSS signals are blocked or degraded by atmospheric conditions, the INS continues to provide accurate position and orientation data through its gyroscope and accelerometer measurements. This intermediary system ensures continuous reliable navigation information for the automatic steering without direct dependence on satellite signals.
2Ease of operation
If electrical auto-steering system is implemented with direct steering column connection, then ease of operation and manual override capability are improved, but device complexity increases due to integration of multiple sensor subsystems and control mechanisms
Solution Approach 1:
The patent segments the navigation system into distinct functional modules: GNSS receiver for satellite positioning, INS unit with gyroscope and accelerometer for inertial navigation, microprocessor-based controller for data fusion and control calculations, and electrical auto-steering mechanism for physical steering control. Each module performs a specific function and can be independently tested and maintained. The segmentation manages complexity by organizing the system into manageable, functionally-separated components while maintaining integration for overall operation.
3Productivity
If automatic steering control is used to navigate through fields, then productivity and operational speed are improved, but crop damage risk increases due to potential deviation from straight-line passes and equipment overruns
Solution Approach 1:
The patent implements continuous feedback control where the microprocessor-based controller constantly monitors the vehicle's actual position, heading, and speed data from the GNSS and INS systems, compares it with the desired straight-line path, and automatically adjusts the electrical steering to correct any deviations. This closed-loop feedback system maintains high operational speed while preventing equipment overruns and crop damage by continuously keeping the vehicle on the intended path.
Solution Approach 2:
The automatic steering system dynamically adjusts steering corrections based on real-time navigation data and terrain conditions. The microprocessor calculates optimal steering commands that maintain straight-line travel accuracy while adapting to field variations. This dynamic control enables high-speed operation with precision path following, preventing the equipment from deviating into crop rows or causing overruns.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables precise and adaptive navigation in agricultural vehicles, minimizing crop damage and improving operational efficiency by automatically adjusting to terrain changes and allowing seamless transitions between automatic and manual control, while maintaining field data for future use.
Implementation Method 1
an electrical auto-steering system connected directly to the steering column
Implementation Method 2
inertial (gyroscopic) subsystem with X, Y and Z axis sensors for sensing equipment attitude changes
Data Source
AI summary
A guidance and vehicle control system for automatically steering a vehicle, such as an agricultural vehicle or a tractor, through a field. The system includes a GNSS receiver and antenna for determining the vehicle's instantaneous position, a guidance CPU, and an automatic steering subsystem integrated with the vehicle's electrical power system. The automatic steering subsystem can be interfaced with the steering column of the vehicle, and mechanically activates the steering column, thereby steering the vehicle according to instructions received from the CPU based upon the vehicle's position and a predetermined path. An interrupt element, such as a wheel movement sensor or a slip gear, may be interfaced with the automatic steering subsystem to allow for manual steering override of the automatic steering control.