METHOD FOR AUTOMATIC NAVIGATION OF A LOGGING MACHINE IN REAL TIME IN A GIVEN COORDINATE SYSTEM Russian patent published in 2022 - IPC G01S5/00 

FIELD: navigation.

SUBSTANCE: invention relates to methods for high-precision positioning of ground objects in difficult working conditions. Method for automatic navigation of a logging machine (LM) in real time in a given coordinate system, using the logging site map prepared and entered into the LM information-measuring system (IMS), based on the knowledge of the exact coordinates of the LM start point and the calculation of the error of its satellite navigation system (SNS) at the start point and consisting in the successive determination of the position of the trees at each point of the route, which are in the field of view of the goniometric-ranging device (GRD) of the LM and reachable for cutting, in the LM GRD coordinate system, with subsequent conversion of the detected trees coordinates from the LM GRD coordinate system to the logging area coordinate system and further calculation of the coordinates and the LM course in the logging area coordinate system and the LM SNS error calculation, trees cutting and search of previously hidden behind them other trees accessible for cutting, with determination of their coordinates and introduction of corresponding changes into data of IMS.

EFFECT: using the method is providing the required accuracy of determining coordinates and heading angle of a logging machine in conditions which do not allow using traditional navigation methods.

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