Patent ID: 8140223

Claim:
A GNSS guidance and roll compensation method for autosteering a vehicle with multiple GNSS antennas, a guidance processor including a central processing unit (CPU) and an autosteering subsystem, which method comprises the steps of: mounting said antennas in a fixed, constrained-geometry relation on said vehicle; acquiring GNSS ranging signals at said antennas; computing with said receiver GNSS ranging data using said GNSS ranging signals as input; computing with said CPU a position and a heading for the vehicle using said GNSS ranging data as input from said receiver; computing with said CPU vehicle roll data in real time from ranging differences at said GNSS antennas; computing roll correction values from said vehicle roll data; applying said roll correction values to steering commands output from said CPU; steering said vehicle with said autosteering subsystem utilizing said steering command and said roll correction values; and applying a delay phase shift to said roll correction values.