Correction of real time kinematics position location data for semi-automated steering of a power equipment device
An automated steering device is provided usable in conjunction with power equipment machines. By way of example, the automated steering device can provide user-assisted steering for a power equipment machine to maintain tight parallel paths. The user-assisted steering can be defined relative to an initial vector traversed through user directed operation of the power equipment machine, independent of or at least in part independent of a predefined area of operation for the power equipment machine. Position location data refined by local terrestrial positioning system correction devices, or onboard rotational correction devices can be provided to obtain high positioning accuracy, and minimal path deviation. As a result, highly accurate pathing can be provided by way of the disclosed automated steering devices.
1 . A method for correcting real-time kinematic (RTK) global positioning data for a machine, comprising:
receiving, at one or more wireless devices of a direction control system, first real-time kinematic (RTK) position location data for a power equipment device in motion defining a first position location for the power equipment device;
acquiring, from a wireless positioning device of the one or more wireless devices, a fix RTK data status for the first RTK position location data;
receiving, at the one or more wireless devices, second RTK position location data for the power equipment device defining a second position location for the power equipment device;
acquiring, from the wireless positioning device, the fix RTK data status for the second RTK position location data;
determining, utilizing a processing device of the direction control system, a heading and speed of the power equipment device in motion from the first and second RTK position location data;
receiving, at the one or more wireless devices, third RTK position location data for the power equipment device defining a third position location for the power equipment device;
acquiring, from the wireless positioning device, a float RTK data status for the third RTK position location data;
determining, utilizing the processing device, an expected third position location for the power equipment device in motion independent of satellite signals following the acquiring the float RTK data status;
determining, utilizing the processing device, a correction factor at least in part from the expected third position location of the power equipment device determined independent of satellite signals and utilizing the correction factor to adjust subsequent RTK position location data for the power equipment device having the float RTK data status; and
adjusting, by a steering controller of the power equipment device, a travel direction of the power equipment device at least in part based on the adjusted subsequent RTK position location data.
2 . The method of claim 1 , wherein determining, utilizing the processing device, the expected third position location for the power equipment device in motion further comprises obtaining, at the direction control system, an alternate third position location for the power equipment device from a secondary position location apparatus independent of the satellite signals and utilizing the alternate third position location for the expected third position location.
3 . The method of claim 2 , wherein generating the alternate third position location for the power equipment device in motion is in response to acquiring the float RTK data status for the third RTK position location data.
4 . The method of claim 2 , wherein generating the alternate third position location for the power equipment device in motion is part of regular alternate position location determinations of the secondary position location apparatus.
5 . The method of claim 2 , wherein the secondary position location apparatus comprises an inertial measurement unit (IMU) that includes a gyroscope, an accelerometer or a wheel odometer or a combination of the foregoing.
6 . The method of claim 1 , wherein determining, utilizing the processing device, the expected third position location further comprises:
extrapolating, utilizing the processing device, a position location for the power equipment device at least from the second RTK position location data, the speed and heading of the power equipment device and time between receiving the second RTK position location data having the fix RTK data status and receiving the third RTK position location data having the float RTK data status, the extrapolated position location being the expected third position location.
7 . The method of claim 6 , wherein determining, utilizing the processing device, the correction factor further comprises:
determining, utilizing the processing device, a displacement vector between the expected third position location and the third RTK position location having the float RTK data status;
subtracting, utilizing the processing device, the displacement vector from the third RTK position location having the float RTK data status; and
generating, utilizing the processing device, corrected third RTK position location data for the power equipment device.
8 . The method of claim 7 , further comprising receiving, at the one or more wireless devices, subsequent RTK position location data having the float RTK data status and subtracting, utilizing the processing device, the displacement vector from the subsequent RTK position location data for determining a position location of the power equipment device.
9 . The method of claim 1 , further comprising receiving, at the one or more wireless devices, subsequent RTK position location data defining a subsequent position location for the power equipment device, the subsequent RTK position location data having the fix RTK data status.
10 . The method of claim 9 , further comprising terminating the adjusting subsequent RTK position location data for the power equipment device in response to receiving the subsequent RTK position location data having the fix RTK data status.
11 . A method for determining position location of a powered machine, comprising:
tracking, via a wireless communication device of a direction control system operationally coupled to a drive and direction control unit of the powered machine, real-time kinematic (RTK) status for global positioning satellite (GPS) location data of a GPS antenna coupled to the powered machine;
saving discrete position data for instances of the GPS position location data and a respective time for each instance;
calculating contemporaneous speed and heading data for the powered machine from a plurality of the discrete position data over time;
identifying a change in RTK status from a fix RTK status to a float RTK status;
determining an expected position of the powered machine while in motion and independent from satellite signals from one or more discrete position data saved prior to identifying the change in RTK status, and from the speed and the heading;
determining a correction for the GPS position location data at least in part from the expected position; and
modifying a subsequent GPS position location data having the float RTK status with the correction, wherein the drive and control unit of the powered machine adjusts a steering controller of the drive and control unit in response to the correction for the GPS position location data.
12 . The method of claim 11 , wherein determining the expected position of the powered machine further comprises receiving a further GPS position location data having the float RTK status following identifying the change in RTK status and determining a spatial difference in the expected position from the further GPS position location data.
13 . The method of claim 12 , wherein modifying the subsequent GPS position location data having the float RTK status further comprises subtracting the spatial difference from each of the subsequent GPS position location data to generate corrected GPS position location data for the powered machine.
14 . The method of claim 11 , further comprising receiving an additional GPS position location data having the fix RTK status following the identifying the change in RTK status.
15 . The method of claim 14 , further comprising terminating the modifying the subsequent GPS position location data with the correction following receiving the additional GPS position location data having the fix RTK status.
16 . A method for determining position location of a powered machine, comprising:
tracking, via a wireless communication device of a direction control system operationally coupled to a drive and direction control unit of the powered machine, real-time kinematic (RTK) status for global positioning satellite (GPS) location data of a GPS antenna coupled to the powered machine;
saving discrete position data for instances of the GPS position location data and a respective time for each instance;
identifying a change in RTK status from a fix RTK status to a float RTK status;
receive a subsequent GPS location data at a subsequent time following the identifying the change in RTK status;
access an alternate position location apparatus of the powered machine and obtain an alternate position location independent of satellite signals for the powered machine in motion at the subsequent time;
determine a correction for the GPS position location data from the subsequent GPS location data and the alternate position location obtained independent of satellite signals for the powered machine in motion; and
adjust subsequent GPS position location data having the float RTK status utilizing the correction, wherein the drive and control unit of the powered machine adjust a steering controller of the drive and control unit in response to the correction for the GPS position location data.
17 . The method of claim 16 , wherein obtaining the alternate position location is in response to identifying the change in RTK status from the fix RTK to the float RTK status.
18 . The method of claim 16 , wherein obtaining the alternate position location is in conjunction with regular generation of alternate position location data utilizing the alternate position location apparatus.
19 . The method of claim 16 , wherein the alternate position location apparatus comprises an inertial measurement unit (IMU) that includes a gyroscope, an accelerometer or a wheel odometer or a combination of the foregoing.
20 . The method of claim 16 , wherein determining the correction further comprises determining a spatial difference between the alternate position location and the subsequent GPS location data and adjusting subsequent GPS position location data having the float RTK status further comprises subtracting the spatial difference from respective position data of the subsequent GPS position location data.