08140223 is referenced by 36 patents and cites 429 patents.

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction and guiding multiple vehicles and pieces of equipment relative to each other.

Title
Multiple-antenna GNSS control system and method
Application Number
12/355776
Publication Number
8140223 (B2)
Application Date
January 17, 2009
Publication Date
March 20, 2012
Inventor
Steven R Miller
Scottsdale
AZ, US
John A McClure
Scottsdale
AZ, US
Walter J Feller
Airdrie
CA
Michael L Whitehead
Scottsdale
AZ, US
Agent
Mark E Brown
Law Office of Mark Brown
Assignee
Hemisphere GPS
CA
IPC
G01C 21/28
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