Implement Guidance Using One GNSS and Vehicle Sensor Fusion
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Solution Overview
Problem
Traditional passive implement guidance systems for agricultural implements require two Global Navigation Satellite System (GNSS) units, which are costly and complicated to outfit, increasing operational complexity and cost.
Innovation Solution
A single GNSS unit is used in conjunction with vehicle-mounted sensors to determine the relative position of the towing vehicle and implement, allowing for passive implement guidance by adjusting vehicle operating parameters to maintain the implement's desired course.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two GNSS units are used for passive implement guidance, then positional accuracy of the implement is maintained, but cost and system complexity increase
Solution Approach 1:
The patent combines the functions of two separate GNSS units into a single GNSS unit by using the vehicle-mounted sensor system to determine the relative position between the towing vehicle and implement. This merging reduces the number of expensive satellite navigation units while maintaining the ability to track implement position accurately through data fusion of GNSS location data and sensor measurements.
Solution Approach 2:
The vehicle-mounted sensor system acts as an intermediary between the single GNSS unit and the implement position determination. The sensors (such as drawbar position sensors, inertial measurement units, or image capture devices) measure the relative position and orientation, serving as a mediator that allows one GNSS unit to effectively provide positioning information for both the vehicle and implement.
2Measurement precision
If two GNSS units are used for passive implement guidance, then positional accuracy is maintained, but operational complexity increases
Solution Approach 1:
By merging the positioning functions into a single GNSS unit combined with vehicle-mounted sensors, the system reduces the operational complexity of outfitting and maintaining two separate satellite navigation systems. The controller automatically processes the combined data from the single GNSS unit and sensor system, simplifying the operational workflow.
3Device complexity
If a single GNSS unit is used with vehicle-mounted sensors, then cost and complexity are reduced, but measurement precision may be compromised
Solution Approach 1:
The patent replaces the mechanical redundancy of two independent GNSS units with a combined system using vehicle-mounted sensors (such as drawbar position sensors, inertial measurement units, or optical sensors). This substitution maintains measurement precision by using the sensor data to determine relative position and orientation, compensating for the reduced redundancy of having only one satellite navigation unit.
Solution Approach 2:
The system creates a composite positioning solution by combining data from a single GNSS unit with measurements from vehicle-mounted sensors. This composite approach integrates satellite navigation data with local sensor measurements to achieve accurate implement position determination, equivalent to using two separate GNSS units but with reduced complexity and cost.
Data Source
AI summary
A system may receive, by a controller onboard a work vehicle that is positionally coupled to the implement, a location data associated with a ground position of the implement; determine, the ground position of the implement based at least on the location data associated with the ground position of the implement; determine a ground position of the work vehicle relative to the implement based at least on the received location data associated with the ground position of the implement; determine a deviation of the ground position of the implement from a desired course based on the ground position of the implement exceeding a threshold; responsive to determining that the deviation of the ground position of the implement from the desired course exceeds the threshold, adjusting one or more operating parameters of the work vehicle to adjust the ground position of the work vehicle relative to the implement.