SYSTEM AND METHOD FOR DETERMINING GROUND SPEED OF MACHINE

• US 20150204901A1
• Filed: 01/17/2014
• Published: 07/23/2015
• Est. Priority Date: 01/17/2014
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Faivre, Joseph L., Krone, Bradley P.
• Application Number:
  US14/157,681
• Publication Number:
  US 20150204901A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 19/25 involving aiding data received from a cooperating element, e.g. assisted GPS
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A method for determining ground speed of a machine includes receiving an inertial navigation data at a first time and calculating a lateral acceleration of the machine at the first time using a first Kalman filter. A time delayed measurement of the ground speed information is received at a second time, wherein the time delayed measurement is delayed by predetermined time interval with respect to the measurement of the inertial navigation data. A ground speed of the machine is calculated at second time based on the time delayed measurement of the ground speed information and the inertial navigation data using a second Kalman filter, wherein the inertial navigation data is provided at the second time. Thereafter the ground speed is then determined based on a change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

Claims

1. A method for determining a ground speed of a machine, the method comprising:

receiving an inertial navigation data associated with the machine at a first time;

calculating a lateral acceleration of the machine at the first time based on the received inertial navigation data using a first Kalman filter;

receiving a time delayed measurement of the ground speed information from the positioning system associated with the machine at a second time, wherein the time delayed measurement of the ground speed information is delayed by a predetermined time interval with respect to the measurement of the inertial navigation data;

calculating a ground speed associated with the machine at the second time based on the time delayed measurement of the ground speed information associated with the machine and the inertial navigation data using a second Kalman filter, wherein the inertial navigation data is provided at the second time;

determining a change in ground speed of the machine over the predetermined time interval based on the calculated lateral acceleration of the machine; and

determining the ground speed of the machine at the first time based on the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

2. The method of claim 1, wherein receiving the inertial navigation data comprises receiving acceleration information from an inertial measurement unit (IMU) associated with the machine.

3. The method of claim 1, wherein receiving the inertial navigation data comprises receiving an angular rate information from an inertial measurement unit (IMU) associated with the machine.

4. The method of claim 1, wherein receiving the time delayed measurement of the ground speed information at the second time comprises receiving position information from a global positioning system (GPS) associated with the machine and determining the ground speed information based on the position information corresponding to at least two successive positions of the machine.

5. The method of claim 1, wherein calculating the lateral acceleration of the machine further comprises calculating a drivetrain based ground speed of the machine based on at least one of a rotational speed of tracks of the machine and a drawbar pull.

6. The method of claim 1, wherein calculating the ground speed associated with the machine at the second time further comprises receiving a drivetrain based ground speed of the machine based on at least one of a rotational speed of tracks of the machine and a drawbar pull.

7. The method of claim 6, wherein calculating the ground speed associated with the machine at the second time further comprises introducing a delay to provide the drivetrain based ground speed at the second time by a memory module.

8. The method of claim 1, wherein determining the change in ground speed of the machine over the predetermined time interval based on the calculated lateral acceleration of the machine comprises integrating the lateral acceleration within a limit from the second time to the first time.

9. The method of claim 1, wherein determining the ground speed of the machine further comprises adding the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

10. A controller for determining a ground speed of a machine, the controller comprising:

a first Kalman filter configured to calculate a lateral acceleration of the machine at a first time based an inertial navigation data received from an inertial measurement unit (IMU) associated with the machine;

a second Kalman filter configured to calculate a ground speed associated with the machine at a second time based on a time delayed measurement of the ground speed information received from a positioning system associated with the machine and the inertial navigation data, wherein the time delayed measurement of the ground speed information is delayed by a predetermined time interval with respect to the measurement of the inertial navigation data and the inertial navigation data is also provided at the second time; and

a dead reckoning system operatively coupled to the first Kalman filter and the second Kalman filter, the dead reckoning system configured to;

determine a change in ground speed of the machine over the predetermined time interval based on the calculated lateral acceleration of the machine; and

determine the ground speed of the machine at the first time based on the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

11. The controller of claim 10, wherein the dead reckoning system comprises:

an integrator module configured to integrate the lateral acceleration within a limit from the second time to the first time to determine the change in ground speed of the machine over the predetermined time interval; and

an adder module configured to add the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

12. The controller of claim 10, wherein the IMU includes an accelerometer configured to measure acceleration information of the machine and a gyroscopic sensor configured to measure an angular rate information of the machine.

13. The controller of claim 10, wherein the positioning system is a global positioning system (GPS).

14. The controller of claim 10, wherein the first Kalman filter is operatively coupled to a drivetrain based ground speed determination module configured to calculate a drivetrain based ground speed of the machine based on at least one of a rotational speed of tracks of the machine and a drawbar pull.

15. The controller of claim 14 further comprising a memory module configured to introduce a delay to the calculated drivetrain based ground speed.

16. The controller of claim 15, wherein the memory module is operatively connected to the second Kalman filter and configured to provide the inertial navigation data and the calculated drivetrain based ground speed at the second time to the second Kalman filter.

17. A machine comprising:

a frame supported on a set of tracks;

an inertial measurement unit (IMU);

a positioning system;

a drivetrain based ground speed determining module; and

a controller operatively connected to the IMU, the positioning system and the drivetrain based ground speed determining module, the controller comprising;

a first Kalman filter configured to calculate a lateral acceleration of the machine at a first time based an inertial navigation data received from the IMU;

a second Kalman filter configured to calculate a ground speed associated with the machine at a second time based on a time delayed measurement of the ground speed information received from the positioning system and the inertial navigation data, wherein the time delayed measurement of the ground speed information is delayed by a predetermined time interval with respect to the measurement of the inertial navigation data and the inertial navigation data is also provided at the second time; and

a dead reckoning system operatively coupled to the first Kalman filter and the second Kalman filter, the dead reckoning system configured to;

determine a change in ground speed of the machine over the predetermined time interval based on the calculated lateral acceleration of the machine; and

determine the ground speed of the machine at the first time based on the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

18. The machine of claim 17, wherein the dead reckoning system comprises:

an integrator module configured to integrate the lateral acceleration within a limit from the second time to the first time to determine the change in ground speed of the machine over the predetermined time interval; and

an adder module configured to add the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

19. The machine of claim 17, wherein the IMU includes an accelerometer configured to measure acceleration information of the machine and a gyroscopic sensor configured to measure an angular rate information of the machine.

20. The machine of claim 17, wherein the positioning system is a global positioning system (GPS).