CRANE JIB ATTITUDE AND HEADING REFERENCE SYSTEM CALIBRATION AND INITIALIZATION
First Claim
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1. A method of calibrating an attitude and heading reference system of a crane jib, comprising the steps of:
- while one or more crane jib maneuvers are performed, collecting magnetometer measurements using a magnetometer that is attached to the crane jib;
supplying the magnetometer measurements to a processor; and
in the processor, generating magnetometer calibration parameters using the magnetometer measurements.
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Abstract
Methods and apparatus are provided for calibrating and initializing/aligning an attitude and heading reference system of a crane jib. Magnetometer measurements are generated using a magnetometer that is attached to the crane jib, while crane jib maneuvers are performed including crane jib slewing. The magnetometer measurements are supplied to a processor that is configured to generate magnetometer calibration parameters using the magnetometer measurements and to initialize and align a plurality of filters.
19 Citations
20 Claims
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1. A method of calibrating an attitude and heading reference system of a crane jib, comprising the steps of:
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while one or more crane jib maneuvers are performed, collecting magnetometer measurements using a magnetometer that is attached to the crane jib; supplying the magnetometer measurements to a processor; and in the processor, generating magnetometer calibration parameters using the magnetometer measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of calibrating an attitude and heading reference system of a crane jib, comprising the steps of:
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rendering commands on a display device that inform an operator to implement one or more crane jib maneuvers; generating magnetometer measurements, using a magnetometer that is attached to the crane jib, while the one or more crane jib maneuvers are being implemented; supplying the magnetometer measurements to a processor; and in the processor, generating magnetometer calibration parameters using the magnetometer measurements. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A crane jib attitude and heading reference system, comprising:
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a plurality of magnetometers, each magnetometer configured to sense local magnetic field at least proximate the crane jib and supply magnetometer signals representative thereof; and a processor coupled to receive the magnetometer signals and configured, upon receipt thereof, to generate magnetometer calibration parameters. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification