Multi-source positioning system for work machines

Details Multi-source positioning system for work machines Multi-source positioning system for work machines

2006-11-21

2006-11-21

Black, Thomas (Department: 3661)

Data processing: vehicles, navigation, and relative location

Vehicle control, guidance, operation, or indication

Construction or agricultural-type vehicle

C701S004000, C701S023000, C701S045000, C701S214000

Reexamination Certificate

active

07139651

ABSTRACT:
A three-dimensional and a two-dimensional GPS unit periodically provide coordinate positions of points on the work machine and are combined with a Kalman filter to produce a point of reference on a work machine. The point of reference is improved by combining the position with an inertial position derived from accelerometer data in another Kalman filter. Additionally, the two-dimensional GPS unit provides a heading that is combined with an inertial orientation derived by the angular rate from a gyroscope in another Kalman filter to produce a precise orientation estimate. Inclinometers provide pitch and roll of the work machine. With the point of reference, orientation estimate, pitch, roll and known geometry of the work machine, the GPS unit calculates the location and orientation of machine components and continuously tracks its movement throughout the mine. Additionally, the accelerometers and gyroscope provide position and orientation when the GPS units are inoperable.

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