Patent ID: 8639416
Filing Date: 2014-01-28
Classification: A01B,G01S,G05D

Abstract:
1. A GNSS-based machine guidance and control method for use with a vehicle equipped with snow grooming equipment, which method comprises the steps of: equipping the vehicle with a GNSS system including multiple GNSS antennas, a GNSS receiver connected to the antennas and a programmable controller connected to the GNSS receiver; programming the controller to compute GNSS-defined positions of said antennas using GNSS ranging information; determining with the GNSS-defined antenna positions vehicle position and attitude in three dimensions (3-D); providing a sensor connected to the snow grooming equipment; outputting from said sensor a signal corresponding to a condition of said snow grooming equipment; inputting a snow grooming plan including design elevations defining a finished snow surface into said programmable controller; programming the controller with GNSS-defined snow grooming information including underlying grade elevations, existing snow base elevations and groomed snow surface elevations; interpolating or extrapolating said snow grooming elevation information with said controller utilizing the elevations of adjacent surface points for estimating the elevations of additional snow surface points; positioning a base including a base GNSS receiver and a base GNSS transmitter in a remote location relative to said vehicle; using said base for providing differential corrections to said vehicle-mounted GNSS subsystem; comparing with said controller said snow grooming information and said snow grooming equipment condition; and guiding said vehicle and operating said snow grooming equipment with said controller based on said comparison using a real-time kinematic (RTK) procedure, said vehicle position and attitude, said snow grooming equipment condition and said grading plan.