| CPC G01C 21/12 (2013.01) [B60W 50/00 (2013.01); B60W 2050/0083 (2013.01); B60W 2300/152 (2013.01); B60W 2300/17 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2520/28 (2013.01); B60W 2556/50 (2020.02)] | 10 Claims |
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1. A tractor calibration system comprising:
a first sensor;
a tractor comprising a second sensor;
a calibration unit comprising:
a processing unit; and
a non-transitory computer-readable medium containing instructions to direct the processing unit to:
determine a first estimate for a tractor parameter based upon signals received from the first sensor;
determine a second estimate for the tractor parameter based upon signals received from the second sensor;
determine a third estimate for the tractor parameter based upon a combination of the first estimate and the second estimate;
determine a tractor parameter correction based upon the second estimate and the third estimate; and
a controller configured to output control signals to adjust at least one of a steering and propulsion of the vehicle based on the tractor parameter correction,
wherein the tractor parameter comprises a yaw rate of the tractor, wherein the second sensor comprises a potentiometer on the tractor and wherein the tractor parameter correction is to be applied to steering angle measurements by the potentiometer,
wherein the first sensor comprises a first global positioning system (GPS) antenna, wherein the tractor comprises a second GPS antenna rearward of the first GPS antenna on the tractor, wherein the first estimate is based upon a combination of positions indicated by signals received by the first GPS antenna and second signals received by the second GPS antenna and
wherein the tractor further comprises an inertial measurement unit, wherein the second estimate is based upon a steering angle indicated by the potentiometer and a forward speed, and wherein the third estimate is based upon a combination of the first estimate, the second estimate and a fourth estimate of the tractor parameter based upon signals from the inertial measurement unit.
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