Tokyo Keiki Inc.

Tokimec Inc.

Hiroomi Arakane

Nobuyuki Okamura

Takao Sagawa

Yasuharu Hashimoto

Shioto Tanaka

Toyoori Yoshida

Kazuki Kaya

Masayuki Funayama

Akinobu Uchida

An automatic steering system for a working vehicle, for automatic maneuvering of the working vehicle running on a working ground surface along a desired running path, in which the influences of various ground surface environments and of any aging degradation and/or individual variation of the working vehicle may be minimized, and the automatic steering operation may be conducted with improved stability. The automatic steering system includes a measurement section for acquiring measurements including those of the position, velocity, heading direction, and attitude of the vehicle and a data processing section. The data processing section includes a vehicle related parameter estimator for determining a value of a vehicle related parameter and a ground surface related parameter estimator for determining a value of a ground surface related parameter.

Automatic steering system for working vehicle

A position output device for outputting position data indicating a current position of an object, is based on position data of a determined current position of the object as determined by a satellite navigation system. When a position jump has occurred in the position data from the satellite navigation system, an appropriate current position is outputted. An estimated current position is generated based on the output position outputted at the latest update time. It is determined whether or not a position jump has occurred, based on the distance between the estimated position and the satellite navigation system-based determined position, which is being updated by the satellite navigation system. When it is determined that a position jump has occurred, a position adjustment vector is generated by calculation, which is then used to generate an adjusted position.

Position output device using satellite navigation system

The sensor successively calculates a rolling angle, pitch angle and azimuth from the coordinate transformation matrix with the level error and azimuth error compensated. It calculates azimuth error compensatory values using the GPS direction signal and calculates a difference between the GPS direction signal and magnetic azimuth signal under a condition wherein the reliability of the GPS direction signal is high, whereas it calculates azimuth error compensatory values using the calculated difference between the GPS direction signal and magnetic azimuth signal and the magnetic azimuth signal under a condition wherein the reliability of the GPS direction signal is not high and under a condition wherein the reliability of the magnetic azimuth signal is not low.

Azimuth/attitude detecting sensor

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Tokyo, Japan

Hiroomi Arakane