Self-propelled construction machine and method for controlling a self-propelled construction machine

摘要

The invention relates to a self-propelled construction machine and a method for controlling a self-propelled construction machine. The construction machine according to the invention has a position determination device 13 for determining the position of a reference point R on the construction machine in a coordinate system (X, Y, Z) which is independent of the construction machine. The position determination device has a navigation satellite system receiver 14 for receiving satellite signals of a global navigation satellite system 15 (GNSS) and a computing unit 16, which is configured such that, based on the satellite signals, the position of a reference point (R) on the construction machine and the Orientation (ψ) of the construction machine can be determined in a coordinate system (X, Y, Z) that is independent of the construction machine. In addition, the construction machine has a control device 18 which interacts with the position determination device 13 and is configured such that the steering angles of the steerable drives 3, 4, 6 are set such that the reference point R of the construction machine moves along a predetermined trajectory T. , The computing unit 16 of the position determination device 13 is configured such that in a control mode in which the construction machine is not controlled on the basis of the satellite signals of the global navigation satellite system 15, the position (x, y, z) of the reference point R related to the construction machine and the orientation (ψ) of the construction machine in the coordinate system (X, Y, Z) independent of the construction machine on the basis of a kinematic model 16A implemented in the computing unit 16 of the position determination device 13, which model determines the The position (P) of the reference point R and the orientation (ψ) of the construction machine in the coordinate system (X, Y, Z) independent of the construction machine as a function of the steering angles and the speeds of the drives 3, 4, 6 are described.