Abstract: Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.

Abstract: A method of receiving two chip-by-chip multiplexed CSK signals (e.g., GNSS signals) and searching for a non-CSK signal with optimal performance at a given digit capacity of a sampling memory resided in parallel correlators. For CSK signals Prompt, Early and Late results for each of possible code shift are calculated as different sums of four punctured convolutions. Depending on configuration, the method allows to receive both multiplexed CSK signals with lesser quality or one of the CSK signals with better quality. The method can be implemented as an apparatus with four punctured correlators, a set of multipliers by 1 or 2N, another set of multipliers by 1 or 0, summers of four input to one result, a RAM, searchers of maximum, and conditional commutators.

Abstract: A laser measuring system including first and second laser base stations and a laser receiver is provided. The laser receiver detects a first laser signal from the first laser base station. Location information associated with the first laser base station is extracted from the detected first laser signal. The laser receiver detects a second laser signal from the second laser base station. Location information associated with the second laser base station is extracted from the detected second laser signal. A position of the laser receiver is determined based on the extracted location information associated with the first laser base station and the extracted location information associated with the second laser base station.

Abstract: Systems and methods for determining a swing angle of a swing boom of a vehicle are provided. Sensor data is received from sensors disposed on a swing boom and a body of a vehicle. It is determined whether the swing boom is static or moving relative to the body based on the sensor data. In response to determining that the swing boom is static, the received sensor data is corrected based on an observed swing angle and an estimated swing angle is calculated based on the corrected sensor data. In response to determining that the swing boom is moving, the estimated swing angle is calculated based on the received sensor data. The estimated swing angle is output.

Abstract: A self-leveling laser transmitter is provided. The laser transmitter comprises a rotation head and an accelerometer mounted on the rotation head. An acceleration signal is received from the accelerometer and one or more tilt adjustment signals for adjusting a tilt of the rotation head to a leveled orientation are generated based on the acceleration signal. One or more actuators adjust the tilt of the rotation head based on the one or more tilt adjustment signals.

Abstract: An antenna comprising a ground plane, a composite radiation patch, and an excitation circuit is described herein. The composite radiation patch is disposed on a printed circuit board and comprises a conducting plate and a plurality of conductive strips. The composite radiation patch comprises an outer region and an inner region separated by a circle of a given radius. The conducting plate comprises 1) a first set of arcuate slots disposed on the circle and 2) a second set of slots each contacting an external perimeter of the conducting plate at one end and a corresponding slot of the first set of arcuate slots at another end. The plurality of conductive strips is disposed within the outer region of the composite radiation patch, with one or more of the plurality of conductive strips galvanically contacting the conducting plate. The excitation circuit is disposed on the printed circuit board for exciting a right hand circularly polarized wave.

Abstract: A combined cellular/GNSS (global navigation satellite systems) antenna is provided. The combined cellular/GNSS antenna comprises an external area and an internal area delineated by a circumference of a circle. The combined cellular GNSS antenna further comprises a cellular antenna and a GNSS antenna. The cellular antenna comprises a set of cellular radiators disposed in the external area and connected to a cellular feeding network for excitation of the set of cellular radiators. The GNSS antenna comprises radiation elements disposed in the internal area and has a center located substantially at a center of the circle.

Abstract: An earthmoving machine and method for automatically controlling cyclical operations of the earthmoving machine are disclosed. The earthmoving machine includes a plurality of machine elements each controlled by one or more respective actuators. the method comprises: determining a current machine state; calculating control signals for at least one actuator when the current machine state corresponds to a cyclical operation; and transmitting the control signals to the at least one actuator to automatically control the cyclical operation.

Abstract: A vehicular positioning system utilizing multiple optical cameras having contiguous fields of view for reading coded markers having pre-determined positions for determining the position of vehicle inside a structure with a high degree of accuracy. The vehicle positioning system provides for the direct installation and use of a positioning apparatus on a vehicle with a limited number of coded markers to determine the vehicle's position to within millimeter level accuracy.

Abstract: A method and apparatus for dithering hydraulic valves to mitigate static friction (“stiction”) associated with the hydraulic valves. A first hydraulic valve and a second hydraulic valve are dithered to mitigate stiction associated with those valves. The dithering of the first and second hydraulic valves also cause dithering of a main hydraulic valve associated with the first and second hydraulic valves. Accordingly, stiction of three hydraulic valves of a hydraulic system is mitigated.

Abstract: A universal multi-channel receiver for receiving and processing signals from different navigation systems is provided. The universal receiver is implemented as an ASIC receiver with a number of universal channels. The receiver with universal channels is capable of receiving and processing signals from navigation satellites located within a direct access zone. The universal receiver has a plurality of channels that share the same memory. The universal receiver can determine its coordinates using any of the existing navigation systems (GPS, GLONASS, Beidou and GALILEO). The receiver can receive and process any (PN) signals.

Abstract: Systems and methods for adjusting a height of an implement mounted on a body of a vehicle as the vehicle travels over a terrain are provided. Sensor data is received from a set of sensors disposed on the vehicle. A trajectory associated with the vehicle is determined based on the received sensor data. A profile of the terrain is estimated based on the determined trajectory associated with the vehicle. A ditch is detected in the terrain and compensation values for adjusting the height of the implement are determined based on the estimated profile of the terrain to compensate for the detected ditch. One or more control signals are transmitted to one or more actuators for adjusting the height of the implement based on the determined compensation values.

Abstract: A material independent mass flow sensor is used to generate signals that can be used to calculate mass flow of grain harvested by a combine. A method for determining a mass of material includes the steps of receiving data from a three-measurement transducer and determining an angular center of mass location of an object based on the data from the three-measurement transducer. A coefficient of friction of the object is determined. A velocity of the object is determined. A mass of the object is determined. The mass of the object can be determined based on the angular center of mass location of the object, the coefficient of friction of the object, and the velocity of the object.

Abstract: An antenna system includes a right-hand circularly polarized antenna for receiving Global Navigation Satellite System (GNSS) signals and located on a receiver housing; a vertical semitransparent screen for providing an Down/Up ratio DU 9 ? 0 = DU ? ( ? e = 9 ? 0 ? ) = F ? ( - 9 ? 0 ? ) F ? ( 9 ? 0 ? ) of ?13 dB or better for at least some GNSS frequencies; the semitransparent screen being connected to a ground plane of the antenna; the ground plane being connected to a conductive receiver housing; the semitransparent screen further comprising a horizontal slot to which sets of lumped impedance elements are connected. Each set includes several lumped elements; where the lumped elements are capacitors and/or inductors and/or resistors; where the lumped elements in each set are connected in parallel or series; and the semitransparent screen including at least 4 segments arranged symmetrically around the center of the antenna and connected to each other.

Abstract: A method for the application of agricultural fluid to a field includes determining a location of each of a plurality of nozzles of an agricultural spraying machine. A flow rate for each of the nozzles is determined based on each respective nozzle's location in the field. A field map is used to determine a crop requirement and application restriction associated with a nozzle's location. The field map contains indications of crop requirements and application restrictions. The flow rate for a nozzle is determined by comparing the nozzle's location to the field map. A flow rate signal is transmitted to each of the nozzles based on its determined flow rate.

Abstract: A method for mapping a height of a crop in a field divided into a plurality of areas includes determining a height of a cutting bar of an agricultural machine and receiving data from a crop height sensor. The height of crops sensed by the crop height sensor is determined based on the height of the cutting bar and data from the crop height sensor. The crop height is then associated with one of a plurality of areas of the field based on a location of the crop height sensor. In one embodiment, the height of a reel of the agricultural machine is also used in determining the height of crops. The crop height data is used to generate a field map that is used to generate a field treatment plan.

Abstract: A method and system for zone mapping displays a geographic area to a user and receives input from the user identifying a zone of the geographic area. An identification of an agricultural material to be applied in the zone is also received and an application plan is generated in response. The application plan is generated based on features identified in the zone, the agricultural material to be applied, and application requirements and restrictions associated with the agricultural material that are identified by the manufacturer of the material and, in some cases, governmental agencies. The agricultural machine tracks the application of the agricultural material and transmits application information for storage in the zone mapping system for later retrieval in response to requests, such as compliance requests.

Abstract: GNSS timing receiver with synchronization of raw GNSS measurements to an external timescale. Synchronization is achieved by using a hardware Time Interval Measurement Unit (TIMU). The TIMU measures time intervals between two pulse signals and makes additional processing of these measurements. The first pulse signal is generated inside the GNSS receiver. The second pulse signal is the external pulse signal generated by an external time reference device. This time interval is used to control the time instant when the output GNSS measurement will be taken. In the first embodiment all actual GNSS measurements are physically taken at time instants indicated by external pulse signal. These measurements are used as output GNSS measurements. In another embodiment all actual GNSS measurements are taken at their default time instants indicated by internal pulse signal. But output GNSS measurements are calculated at the time instants indicated by the external pulse signal.

Abstract: The present disclosure describes a method and an apparatus for determining a corrected position of a vehicle based on a stable landmark. The method includes determining a last known position vector of the vehicle; capturing an image within a vicinity of a vehicle using an imaging device; identifying a stable landmark within the captured image based on a previously constructed reference map of the vicinity of the vehicle; determining a correction for a position of the vehicle based on the determined last known position vector of the vehicle and the identified stable landmark; and determining an updated position of the vehicle based on the determined correction.

Abstract: A method and apparatus is provided for enhanced signal interference monitoring by sampling a signal of interest and using a representation of the sampled signal in combination with certain audio output capabilities to determine the nature of either the primary received data signal or the secondary interfering signals without requiring any specialized, dedicated external equipment, additional hardware and/or disturbing the primary functions of a radio modem.