Systems and methods for augmenting an inertial navigation system

• US 20080109141A1
• Filed: 11/08/2006
• Published: 05/08/2008
• Est. Priority Date: 11/08/2006
• Status: Active Grant

• Current Assignee: Caterpillar Trimble Control Technologies LLC
• Original Assignee: Caterpillar Trimble Control Technologies LLC
• Inventors: Piekutowski, Richard, Nichols, Mark Edward, Gudat, Adam John
• Granted Patent: US 9,746,329 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

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.

Claims

1. A system for automatically adjusting an implement, comprising:

an inertial navigation system configured to output first position information associated with the implement;

a processor configured to compare the first position information with a desired position and generate a comparison signal in response thereto; and

a valve controller configured to adjust the implement based upon the comparison signal;

a measuring device coupled to the inertial navigation system configured to output second position information to the inertial navigation system;

wherein the inertial navigation system is periodically re-set from the measuring device to modify the first position information based upon an error estimate generated as a function of the first position information and the second position information.

2. The system of claim 1, wherein the measuring device is selected from the group consisting of a planar laser, a fan laser, an automatic total station, a ground based radio ranging system, and a global navigation satellite system (GNSS).

3. The system of claim 2, wherein the second position information includes a horizontal position.

4. The system of claim 2, wherein the second position information includes a vertical position.

5. The system of claim 1, wherein a position processing element is configured to calculate a horizontal position of the implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

6. The system of claim 1, wherein a position processing element is configured to calculate a vertical position of the implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

7. The system of claim 1, wherein the processor is configured to store the desired position and wherein the comparator is further configured to access the memory element.

8. The system of claim 1, further including a hydraulic mechanism, wherein the valve controller is configured to supply a control signal to the hydraulic mechanisms, the hydraulic mechanisms being actuated in response to the control signal.

9. The system of claim 1, wherein sensors receive a signal used to calculate the first position information.

10. The system of claim 1, further including a receiver configured to receive a signal indicating a position of the machine from a global navigation satellite system.

11. The system of claim 1, wherein a kalman filter is configured to determine the error estimate.

12. A method for automatically adjusting an implement for an earthmoving machine, the method comprising:

receiving a first signal from an inertial navigation system, the signal from the inertial navigation system representing first position information;

calculating a position based upon the first signal;

comparing the position to a desired position;

transmitting a second signal representing a result of the comparison;

adjusting the implement based upon the second signal; and

setting the first position information of the inertial navigation system to second position information output from a positioning device based upon an error estimate.

13. The method of claim 12, wherein setting includes periodically updating the first position information with the second position information based upon the error estimate, wherein the positioning device is selected from the group consisting of a planar laser, a fan laser, an automatic total station, a ground based radio ranging system, and a global navigation satellite system (GNSS).

14. The method of claim 13, wherein the first position information further includes a horizontal position based upon a position relative to a surface of a worksite.

15. The method of claim 13, wherein the first position information further includes a vertical position based upon a position relative to a surface of a worksite.

16. The method of claim 13, further including calculating a horizontal position of the implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

17. The method of claim 13, further including calculating a vertical position of the implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

18. The method of claim 13, further including retrieving the desired position from a control processor.

19. The method of claim 13, wherein adjusting the implement includes sending a control signal to one or more hydraulic mechanisms coupled to the implement.

20. The method of claim 13, wherein receiving includes receiving the first signal associated with the first position information with a sensor.

21. The system of claim 13, further including receiving a signal indicating a position, in relation to a surface of a worksite, from a GNSS system.