Low Speed Heading Measurement Using Yaw Rate Sensors
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Solution Overview
Problem
Agricultural equipment with automatic steering control faces significant challenges in obtaining accurate heading measurements at low speeds, particularly when using a single antenna GPS system, due to increased measurement errors as vehicle speed approaches zero.
Innovation Solution
The method involves determining if GNSS heading information is sufficiently accurate and updating the heading determination using the change in heading based on the turning rate when the speed is below a threshold, allowing for accurate heading calculations even at low speeds by combining GPS data with steer angle or yaw rate sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a single antenna GPS system is used, then cost is reduced, but heading measurement accuracy deteriorates at low speeds
Solution Approach 1:
The patent combines GPS data with data from steer angle sensors or yaw rate sensors to determine heading information. This merging of multiple data sources allows the system to maintain accurate heading measurements at low speeds without requiring expensive dual antenna GPS systems, thus resolving the contradiction between cost and measurement precision.
2Measurement precision
If GPS update frequency is increased, then heading measurement accuracy improves, but data processing complexity increases
Solution Approach 1:
The patent uses steer angle sensors or yaw rate sensors as intermediary devices to provide additional data that helps calculate heading information. This approach improves heading measurement accuracy without requiring increased GPS update frequency, thereby avoiding the associated increase in data processing complexity.
3Measurement precision
If dual antenna GPS system is used, then heading measurement accuracy improves at low speeds, but equipment cost increases significantly
Solution Approach 1:
The patent employs relatively inexpensive steer angle sensors or yaw rate sensors instead of expensive dual antenna GPS systems. These cheaper sensors provide the necessary data to calculate accurate heading information at low speeds, resolving the contradiction between measurement precision and equipment cost.
Data Source
AI summary
Methods, apparatus, and systems for use in agricultural equipment with automatic steering control. One method includes the steps of calculating a heading to provide greater accuracy than heading information obtained from the GNSS system or calculated in an equivalent manner using GNSS locations at successive sample periods and using the heading in providing automatic steering control, swath control, or rate control of planting, spraying, or other application functions for the agricultural equipment.