Abstract: A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint.

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract: The position of a global navigation satellite system (GNSS) surveying receiver is determined based on a plurality of RTK engines. A first RTK engine is implementing using a first set of parameters. A second RTK engine is implemented using a second set of parameter different than the first set. A plurality of GNSS signals are received from multiple satellites. At least one correction signal is received from at least one base receiver. A first position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A second position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A final position of the GNSS surveying receiver is determined based on the first position or the second position or a combination of both positions.

Abstract: A handheld GNSS device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing. The device has a GNSS antenna and a communication antenna, both integral with the housing. The GNSS antenna receives position data from GNSS satellites. The communication antenna receives positioning assistance data from a base station. The GNSS antenna has a first antenna pattern, and the communication antenna has a second antenna pattern. The first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data, imaging circuitry for obtaining image data, and positioning circuitry for determining a position for the point of interest based on the position data, the positioning assistance data, the orientation data, and the image data.

Abstract: A graphics-aided geodesic device is provided. The device includes an antenna for receiving position data from a plurality of satellites and a receiver coupled to the antenna. The device further includes orientation circuitry for obtaining orientation data. The orientation data represents an orientation of the apparatus with respect to a plane parallel with a horizon. The device further includes positioning circuitry for determining the position of the point of interest based at least on the position data and the orientation data.

Abstract: The generation of a planar trajectory for use by a vehicle in guiding its position is described. The trajectory is generated by identifying points representing the trajectory, fairing the identified points to generate a set of faired points, and computing a set of polynomial segments from the faired points. The segments form a curve representing the trajectory, where the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. The segments may comprise cubic B-spline segments. If the identified points are not substantially equidistant, then an auxiliary curve approximating the trajectory is generated, and a set of substantially equidistant points on the auxiliary curve is selected as the identified points.

Abstract: A graphics-aided geodesic device is provided. The device includes an antenna for receiving position data from a plurality of satellites and a receiver coupled to the antenna. The device further includes orientation circuitry for obtaining orientation data. The orientation data represents an orientation of the apparatus with respect to a plane parallel with a horizon. The device further includes positioning circuitry for determining the position of the point of interest based at least on the position data and the orientation data.

Abstract: The position of a global navigation satellite system (GNSS) surveying receiver is determined based on a plurality of RTK engines. A first RTK engine is implementing using a first set of parameters. A second RTK engine is implemented using a second set of parameter different than the first set. A plurality of GNSS signals are received from multiple satellites. At least one correction signal is received from at least one base receiver. A first position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A second position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A final position of the GNSS surveying receiver is determined based on the first position or the second position or a combination of both positions.

Abstract: A handheld GNSS device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing. The device has a GNSS antenna and a communication antenna, both integral with the housing. The GNSS antenna receives position data from GNSS satellites. The communication antenna receives positioning assistance data from a base station. The GNSS antenna has a first antenna pattern, and the communication antenna has a second antenna pattern. The first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data, imaging circuitry for obtaining image data, and positioning circuitry for determining a position for the point of interest based on the position data, the positioning assistance data, the orientation data, and the image data.

Abstract: A method and apparatus for operating a vehicle under manual or automatic steering mode is disclosed herein. An estimation of an attraction domain of stability is calculated for the vehicle using the vehicle's current position and orientation information relative to a target trajectory. If an unstable estimation of the attraction domain is determined, then the vehicle is operated in manual mode under control of an operator.

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract: A handheld GNSS device for determining position data for a point of interest is provided. The device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing for displaying image data and orientation data to assist a user in positioning the device. The device further includes a GNSS antenna and at least one communication antenna, both integral with the housing. The GNSS antenna receives position data from a plurality of satellites. One or more communication antennas receive positioning assistance data related to the position data from a base station. The GNSS antenna has a first antenna pattern, and the at least one communication antenna has a second antenna pattern. The GNSS antenna and the communication antenna(s) are configured such that the first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver.

Abstract: A handheld GNSS device for determining position data for a point of interest is provided. The device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing for displaying image data and orientation data to assist a user in positioning the device. The device further includes a GNSS antenna and at least one communication antenna, both integral with the housing. The GNSS antenna receives position data from a plurality of satellites. One or more communication antennas receive positioning assistance data related to the position data from a base station. The GNSS antenna has a first antenna pattern, and the at least one communication antenna has a second antenna pattern. The GNSS antenna and the communication antenna(s) are configured such that the first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver.

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract: A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint.

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract: The generation of a planar trajectory for use by a vehicle in guiding its position is described. The trajectory is generated by identifying points representing the trajectory, fairing the identified points to generate a set of faired points, and computing a set of polynomial segments from the faired points. The segments form a curve representing the trajectory, where the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. The segments may comprise cubic B-spline segments. If the identified points are not substantially equidistant, then an auxiliary curve approximating the trajectory is generated, and a set of substantially equidistant points on the auxiliary curve is selected as the identified points.