Abstract: A computer-implemented method, related system, and computer program product are provided for controlling an agricultural tool towed by a pivotally attached vehicle. A computer stores a model of the position and heading of the tool and the vehicle. The computer determines a velocity and turn rate of the vehicle based on position data from a first GPS receiver attached to the vehicle. The computer calculates the modeled position of the vehicle and the tool at a future time based on the velocity and turn rate of the vehicle. The computer also corrects the modeled position and heading of the vehicle and tool, based on position data from the first GPS receiver, and from a second GPS receiver attached to the tool, respectively. The computer generates a control signal to control an actuator associated with the tool based on the modeled position of the tool at the future time.

Abstract: A heading determination system comprises an inertial measurement unit (IMU) coupled with at least two GNSS receivers, each receiver paired with and receiving signals from a corresponding GNSS antenna, wherein the GNSS antennas are separated by an ultra-short baseline. The heading determination system receives signals broadcast by a plurality of GNSS satellites and calculates the phase difference in the signal seen among the separate GNSS antennas. Using this phase difference information, derived from comparing the signals received from a plurality of GNSS satellites, along with attitude data generated by the IMU, the heading determination system calculates a highly-accurate heading solution. A method is provided for determining a heading of a system including an IMU coupled with at least two GNSS receivers, with each receiver being paired with and receiving signals from a corresponding GNSS antenna and the antennas being separated by an ultra-short baseline.

Abstract: A heading determination system comprises an inertial measurement unit (IMU) coupled with at least two GNSS receivers, each receiver paired with and receiving signals from a corresponding GNSS antenna, wherein the GNSS antennas are separated by an ultra-short baseline. The heading determination system receives signals broadcast by a plurality of GNSS satellites and calculates the phase difference in the signal seen among the separate GNSS antennas. Using this phase difference information, derived from comparing the signals received from a plurality of GNSS satellites, along with attitude data generated by the IMU, the heading determination system calculates a highly-accurate heading solution. A method is provided for determining a heading of a system including an IMU coupled with at least two GNSS receivers, with each receiver being paired with and receiving signals from a corresponding GNSS antenna and the antennas being separated by an ultra-short baseline.

Abstract: A heading determination system comprises an inertial measurement unit (IMU) coupled with at least two GNSS receivers, each receiver paired with and receiving signals from a corresponding GNSS antenna, wherein the GNSS antennas are separated by an ultra-short baseline. The heading determination system receives signals broadcast by a plurality of GNSS satellites and calculates the phase difference in the signal seen among the separate GNSS antennas. Using this phase difference information, derived from comparing the signals received from a plurality of GNSS satellites, along with attitude data generated by the IMU, the heading determination system calculates a highly-accurate heading solution. A method is provided for determining a heading of a system including an IMU coupled with at least two GNSS receivers, with each receiver being paired with and receiving signals from a corresponding GNSS antenna and the antennas being separated by an ultra-short baseline.

Abstract: A heading determination system comprises an inertial measurement unit (IMU) coupled with at least two GNSS receivers, each receiver paired with and receiving signals from a corresponding GNSS antenna, wherein the GNSS antennas are separated by an ultra-short baseline. The heading determination system receives signals broadcast by a plurality of GNSS satellites and calculates the phase difference in the signal seen among the separate GNSS antennas. Using this phase difference information, derived from comparing the signals received from a plurality of GNSS satellites, along with attitude data generated by the IMU, the heading determination system calculates a highly-accurate heading solution. A method is provided for determining a heading of a system including an IMU coupled with at least two GNSS receivers, with each receiver being paired with and receiving signals from a corresponding GNSS antenna and the antennas being separated by an ultra-short baseline.