SE0702447A - Systems and methods for enhancing an inertial navigation system - Google Patents

Systems and methods for enhancing an inertial navigation system

Info

Publication number
SE0702447A
SE0702447A SE0702447A SE0702447A SE0702447A SE 0702447 A SE0702447 A SE 0702447A SE 0702447 A SE0702447 A SE 0702447A SE 0702447 A SE0702447 A SE 0702447A SE 0702447 A SE0702447 A SE 0702447A
Authority
SE
Sweden
Prior art keywords
ins
implement
position information
systems
methods
Prior art date
Application number
SE0702447A
Other languages
Swedish (sv)
Other versions
SE532113C2 (en
Inventor
Mark Edward Nichols
Adam John Gudat
Richard Piekutowski
Original Assignee
Caterpillar Trimble Control
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US11/594,142 priority Critical patent/US9746329B2/en
Application filed by Caterpillar Trimble Control filed Critical Caterpillar Trimble Control
Publication of SE0702447A publication Critical patent/SE0702447A/en
Publication of SE532113C2 publication Critical patent/SE532113C2/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80Component parts
    • E02F3/84Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E02F3/842Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80Component parts
    • E02F3/84Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/847Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/48Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G01S17/86

Abstract

Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.
SE0702447A 2006-11-08 2007-11-07 System and method for automatically adjusting a tool SE532113C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US11/594,142 US9746329B2 (en) 2006-11-08 2006-11-08 Systems and methods for augmenting an inertial navigation system

Publications (2)

Publication Number Publication Date
SE0702447A true SE0702447A (en) 2008-05-09
SE532113C2 SE532113C2 (en) 2009-10-27

Family

ID=39311421

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0702447A SE532113C2 (en) 2006-11-08 2007-11-07 System and method for automatically adjusting a tool

Country Status (5)

Country Link
US (1) US9746329B2 (en)
JP (1) JP2008164590A (en)
CN (1) CN101201631B (en)
DE (1) DE102007051198B4 (en)
SE (1) SE532113C2 (en)

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Also Published As

Publication number Publication date
US20080109141A1 (en) 2008-05-08
JP2008164590A (en) 2008-07-17
DE102007051198A1 (en) 2008-05-21
SE532113C2 (en) 2009-10-27
CN101201631B (en) 2013-09-25
DE102007051198B4 (en) 2017-07-27
CN101201631A (en) 2008-06-18
US9746329B2 (en) 2017-08-29

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