Abstract: An automated inspection method removes a tray of objects from a mobile shelf rack using a robotic arm. The tray is placed in an inspection field of a plurality of cameras. The tray is placed in a first location in response to determining that the object is acceptable. The tray is placed in a second location in response to determining that the object is not acceptable.

Abstract: A method and system for high-quality ionosphere spatial interpolation is designed to improve outlier detection and accuracy estimation in regional networks to accelerate convergence of PPP-RTK positioning services. STEC estimations from a regional receiver network undergo a sequence of anomaly detection steps including jump detection by Alpha-Beta filtering, outlier detection by a posteriori residuals from differenced STEC spatial approximation and by cross-validation of differenced STEC values. The method further includes generating an estimation of ionosphere activity indicator which is further used in outlier detection. On-the-fly estimation of the indicator provides more robust STEC outliers detection because it accounts for systematic periodic changes in ionosphere activity and for spatial correlation of the ionosphere.

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 Global Navigation Satellite System (GNSS) receiver for processing GNSS satellite signals use a quasi-asynchronous sampling frequency grid to process the received signals. The GNSS receiver includes a plurality of RF paths configured to receive Global Navigation Satellite System (GNSS) signals from an antenna and transmit the GNSS signals in a frequency range for digitizing the GNSS signals. A phase-locked loop is configured to generate a clock signal and a plurality of clock dividers are configured to receive the clock signal and divide the clock signal. Each of a plurality of navigation systems receive a clock signal from one of the plurality of clock dividers.

Abstract: A Global Navigation Satellite System (GNSS) receiver for processing GNSS satellite signals use reloadable channel implementation. The configuration of each channel for processing GNSS signals can be saved and loaded to the same or different channels in order to reduce the time required for channel configuration.

Abstract: Method for detecting motion of an object using GNSS signals, including (i) measuring distances between a GNSS antenna and GNSS satellites with carrier phases at a first time; (ii) computing distances between known positions of antenna and satellites at first time; (iii) for each satellite, calculating first set of residuals=distances in (i)?distances in (ii); (iv) measuring distances between antenna and satellites with carrier phases at a second time; (v) computing distances between known positions of antenna and satellites at second time; (vi) for each satellite, calculating second set of residuals=distances in (iv)?distances in (v); (vii) differencing first and second sets of residuals; (viii) computing a metric based on set of differences in (vii); (ix) comparing metric to a threshold; (x) based on comparison in (ix), determining if object moved or possibly moved between first time and second time.

Abstract: An apparatus includes an antenna, RF path, Analog to Digital convertor (ADC), filter, and navigation channel for processing a received GNSS signal based on a navigation clock. A communication modem is configured to receive the signal via a first antenna, RF path, and ADC and process the received signal in order to generate a signal based on a modem clock. The communication modem is further configured to transmit the signal based on the modem clock using a R+1 antenna via a R+1 RF path and a Digital to Analog Convertor (DAC). A multichannel synchronous signal analysis system (MSSAS) receives outputs of the ADCs and processes them using a plurality of decimators and plurality data receivers. Each of the decimators is configured to process the outputs of the ADCs and output data to one of a plurality of data receivers. A CPU is configured to control all of the devices.

Abstract: A method and apparatus for fast searching GNSS signals performed on a GNSS receiver includes the steps of receiving a signal having a known pseudo random noise code. State information of a code generator is stored when a pseudo random noise code is generated. Several NCO, including a Doppler NCO are used to search GNSS signal for several supposed Doppler's simultaneously. A search window associated with the received signal is reviewed a first time to identify a source of the received signal. After it is determined if a source of the received signal can be identified, the state information is loaded into the code generator prior to reviewing the search window a second time etc. Search windows is shifting by all length PRN Code. The loading of state information allows sequential review of the search window without re-adjustment of a fast search module which speeds the process of analyzing the received signals.

Abstract: A method and apparatus for fast searching GNSS signals performed on a GNSS receiver includes the steps of receiving a signal having a known pseudo random noise code. State information of a code generator is stored when a pseudo random noise code is generated. Several NCO, including a Doppler NCO are used to search GNSS signal for several supposed Doppler's simultaneously. A search window associated with the received signal is reviewed a first time to identify a source of the received signal. After it is determined if a source of the received signal can be identified, the state information is loaded into the code generator prior to reviewing the search window a second time etc. Search windows is shifting by all length PRN Code. The loading of state information allows sequential review of the search window without re-adjustment of a fast search module which speeds the process of analyzing the received signals.

Abstract: Method of measuring ionosphere scintillation phase index Sigma-Phi, the method including, for each of N satellites being tracked, calculating a phase prediction at an i-th sample; for each of the N satellites, calculating an individual loop discriminator signal based on the phase prediction; rejecting the i-th samples of some of the N satellites, where K non-rejected satellites remain; calculating common loop discriminator signal based on the individual loop discriminator signals of non-rejected K satellites; calculating a phase estimate and a Doppler frequency estimate at the i-th sample for each of the N satellites based on individual loop discriminator signal; calculating test statistic based on the phase estimate at the i-th sample and an observed phase for each of the N satellites; calculating index Sigma-Phi as standard deviation estimation of the test statistic for each of the N satellites; and outputting the index Sigma-Phi for each of the N satellites.

Abstract: A method and apparatus is provided for determining a mobile station's position by utilizing modified Wi-Fi signals and transmitting and receiving Wi-Fi signals by a plurality of base stations, receiving signals transmitted by these base stations (which have known coordinates) and located in some proximity to the mobile station, and calculating position coordinates of the mobile station (also referred to herein as a mobile object) based on the signals.

Abstract: A method and apparatus for mitigation of GNSS-signal interference using an adaptive notch filter (ANF) operates based on signals received from one or more satellites of a Global Navigation Satellite System (GNSS) such as GPS, GLONASS, etc. In one embodiment, an apparatus comprises a notch filter having a tunable zero frequency of a transfer function receives an input signal and generates an output signal. A bandpass filter coupled to the output of the notch filter receives the output signal. An adaptive block is coupled to the bandpass filter and adjusts the notch filter parameters in order to achieve the minimization of a specific cost function.

Abstract: Systems and methods are provided for determining a material density of a harvested crop. The method includes receiving a measurement of a first throughput signal; receiving a measurement of a second throughput signal, wherein the second throughput signal is more sensitive to changes in material density than the first throughput signal; comparing the first throughput signal to the second throughput signal; and determining a material density index value based on the comparison of the first throughput signal to the second throughput signal.

Abstract: A broadband GNSS antenna has a broadband patch radiator with top slot excitation and a one-groove slotted vertical choke-ring structure around the patch radiator. The patch radiator includes a radiator ground plane, a slotted-fed radiation patch, a broadband feeding network, and a set of elements with vertical currents. The vertical choke-ring structure contains a top conducting surface with a set of slots, a bottom conducting surface and an adjacent vertical conducting cylinder.

Abstract: Systems, methods and machines are provided for determining a free-running pressure of a machine. The method can include receiving a measurement of a temperature of a hydraulic fluid within a hydraulic circuit of the machine, the hydraulic circuit including a hydraulic motor configured to pump the hydraulic fluid through the hydraulic circuit; receiving a measurement of a first pressure of the hydraulic fluid at a first point within the hydraulic circuit; and determining the free-running pressure of the hydraulic motor based on the temperature of the hydraulic fluid.

Abstract: Navigation receiver comprising navigation system (200) includes a plurality of range frequency paths configured to receive Global Navigation Satellite Systems (GNSS) signals from an antenna and transmit the GNSS signals in a frequency range for digitizing the GNSS signals. Navigation system includes a number of Analog Digital Converters (101); a plurality of signal processors forming a plurality of signal paths (102); requantizers (103); navigation channels (104); time control (105) transmitting tick signal (S106). The navigation receiver also includes a central processing unit (CPU) system (110) which includes CPU (107). BUS (databus) (108), and memory (109), which receives data readiness flag signal (Si11). The navigation system and the CPU system connect by interface blocks (202) and (203). The invention provides increased speed of processing of navigation data.

Abstract: A method for coordinating machines to perform a task includes establishing a plurality of communication channels between a plurality of agricultural machines located in a geographic area. Data pertaining to capabilities of each of the plurality of machines, and location in some cases, is received and a collaborative plan to complete a task using the plurality of machines is determined. At least a portion of the collaborative plan is transmitted to each of the plurality of machines. The collaborative plan can be based on the location and capabilities of each of the plurality of machines. The collaborative plan can include a plurality of operations for each of the plurality of machines to perform.

Abstract: A method for automated steering by machine vision receives a point cloud that is generated using a stereo camera. A location of a row is determined based on the point cloud and a steering angle is generated based on the location of the row. The center of the row is detected using a Hough transform detection algorithm and a horizontal projection of the point cloud.

Abstract: Dual-fed antenna includes a ground plane; first and second metal patch radiators positioned over the ground plane, the first and second metal patch radiators are mirror images of each other; the first and second metal patch radiators separated by a meander-shaped gap, thereby forming an interdigitated structure, with each radiator having at least three digits; each digit shorted to the ground plane using a corresponding metal pin; each radiator having a coaxial feed implemented as a connector connected to it through the ground plane, or an aperture-coupled feed. Matching networks can be connected to the coaxial feeds at both ports or to microstrip lines connected to the slots of the aperture-coupled feeds. Each radiator can have tuning pins on an opposite side of the radiator from the digits, where each tuning pin can have a capacitive load. A dielectric plate can be placed between the radiators and the ground plane.

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.