The GPS console 722 provides the user interface from which the GPS processor 710 can be activated and monitored.
In the preferred embodiment, the base station 188 will be located close to the vehicle 102, preferably within 20 miles.
46, 48, 47, 50 and.
If action is required, the navigator decides how to avoid the obstacle.35 is a context diagram bunn pour omatic manual 3500 of the navigator 406 of the present invention; FIG.Clock differentials could be several milliseconds.56A diagrams the organization of figs.43 is a an intermediate level block diagram 4300 of a control system for an autonomous mining vehicle of the present invention; FIG.Operation Turning now to FIG.This translates to 2 Z channel pluses and 2000 A channel pulses per revolution of the mirror 4222, and the inability to differentiate the beginning of the first half of the scan with the beginning of the second half.58A-58C are respective low level flowcharts 5800A-5800C showing the "act on state" block 5510 in each of the executive flowcharts 5700A-5700Q.2 and 2A illustrate navigation equations 212 regarding four GPS satellites 200-206 of the navstar GPS.The VPS communications function 818 controls the outputs of the GPS Kalman filter 802 which are directed to the VPS 1000.From these electromagnetic signals, the absolute, terrestrial position (position with respect to the Earth's center) of any receiver at or near the Earth's surface can ultimately be determined.Further, the GPS receiver 706 records the time of reception.An IRU can be of a laser type or a mechanical type.12) where s is in the set of 0,L The expression for e(s) gives the error along the replanned path 2816 from Po 3304 to PL 3308.This is a divisional application the secret service mark millar pdf of application Ser.Determine the type of segment from which the given posture was generated.For example, in the preferred embodiment, the first position estimate of the GPS signal 716 is weighted heavier than the second position estimate of the IRU signal 910 because the former is inherently more accurate.The scanner 404 is used to find obstructions 4002 (See FIG.
Base Residuals Bias Technique.