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, 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: 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 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: 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.

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: Digital anti-jam apparatus includes a CPU; N spectrum analysis and band rejection (SABR) modules, each receiving a digital quadrature signal input, outputting a spectral data output, and outputting a quadrature output with interference band rejected; the CPU first places the SABR modules into a spectral analysis (SA) mode, and upon detection of interference, places the SABR modules into a band rejection (BR) mode while the interference continues; N N-to-1 multiplexers, whose quadrature outputs are connected to corresponding SABR modules, wherein the CPU controls whether to connect an input of each multiplexer either to the quadrature signal input or to the quadrature band-reject output of any other SABR module; a (N+1)-to-1 multiplexer, connected to the quadrature signal input or to the quadrature output of any SABR module; and a frequency conversion module, that receives output of the (N+1)-to-1 multiplexer and shifts a spectrum of the digital quadrature signal input.

Abstract: An integrated compact radio antenna system for receiving and transmitting 5G signals and receiving GNSS signals is described. The system comprises a high-precision GNSS antenna and a MIMO 5G multi-element antenna system. All the antennas within the proposed compact system are integrated with a shielded housing that enables electronic components of GNSS receiver and 5G modem to be arranged inside. The proposed integrated system has the following advantages: 1) compactness, 2) high efficiency of MIMO 5G antenna system, 3) a high degree of decoupling between 5G antennas, 4) a high degree of decoupling between 5G and GNSS antennas.

Abstract: Method of demodulation of M-CPFSK signal, includes receiving the M-CPFSK radio signal; moving it to zero frequency; sampling at no less than double a frequency of symbols; storing the samples with their amplitude and phase for at least L4 symbols; demodulating the sampled signal in three stages, wherein each stage includes iterating over symbol values within a block of symbols, of length is L1, L2 and then L3; in the first stage, N1 symbol sequences out of all possible symbol sequences are iterated over, at the second stage, N2 symbol sequences out of all possible symbol sequences are iterated over, and at the third stage, N3 symbol sequences out of all possible symbol sequences are iterated over, to obtain final symbol values; symbol values obtained at previous stage is used in a next stage to reduce a number of symbol sequences; and determining encoded bits based on final symbol values.

Abstract: An apparatus for detecting global navigation satellite system (GNSS) spoofing, including a GNSS receiver that includes a first radio-frequency front-end (RF1) connected to antenna 1; a second radio-frequency front-end (RF2) connected to antenna 2; a digital section connected to both RF1 and RF2 and controlled with a single frequency oscillator. The digital section generates a first set of GNSS raw measurements based on signals received from antenna 1; generates a second set of GNSS raw measurements based on signals received from antenna 2; computes single differences between simultaneous raw measurements, generated with the signals received from the antenna 1 and the antenna 2 for the same GNSS satellite; compares the single differences with a threshold; and issues a spoofing alert when more than one of the single differences is below a threshold.

Abstract: A method for machine operator command attenuation includes the step of detecting a position of a boom, stick, and bucket of a hydraulic implement of a construction machine. Movement of the stick is detected by a controller. The controller determines if the movement of the stick will cause excavation below a desired grade. If the movement will not cause excavation below a desired grade, the controller will take no action. If the movement will cause excavation below a desired grade, the controller will command the boom to raise.

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: 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 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: A system and method for maintaining a laser impinging on a laser detector assembly includes determining a location of the laser from a rotating laser transmitter impinging on a laser sensor. A current position of the laser sensor along a mast of the laser detector assembly is determined and a new position for the laser sensor along the mast is determined based on the location of the laser impinging on the laser sensor and a current position of the laser sensor. The laser sensor is then moved to the new position. The system and method provide an effectively long working range of the laser detector assembly by moving the laser sensor along the mast of the laser detector assembly. An inertial measurement unit is used to calculate position information in the period between laser strikes.

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.