Blended Position Solutions
First Claim
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1. A heavy equipment vehicle, comprising:
- a computer system comprising a processor and a non-transitory computer readable medium having encoded thereon a set of instructions that are executable by the processor to perform one or more operations, the set of instructions comprising;
instructions to receive, from a first positioning device at a first location, first data indicating an estimated position of the heavy equipment vehicle at a first point in time;
instructions to receive, from a second positioning device oriented at a second location, second data indicating an estimated position of the heavy equipment vehicle at the first point in time;
instructions to determine a first weighting factor for the first data and a second weighting factor for the second data, wherein the first and second weighting factors specify a relative weight to be accorded to each of the first and second data at the first point in time;
instructions to apply the first weighting factor to the first data;
instructions to apply the second weighting factor to the second data;
instructions to determine a blended solution for a first position of the heavy equipment vehicle at the first point in time, based at least in part on the first and second data and the first and second weighting factors;
instructions to periodically determine the first and second weighting factors over time, wherein the first and second weighting factors vary over time, resulting in different weights being accorded the first data and second data over time; and
instructions to determine a plurality of blended solutions for the position of the vehicle over a period of time, the plurality of blended solutions describing a substantially continuous curve during a transition, over the period of time, from a state in which the second weighting factor disregards the second data in determining a blended solution for a position of the heavy equipment vehicle to a state in which the first weighting factor disregards the first data in determining a blended solution for a position of the heavy equipment vehicle;
instructions to control operation of the heavy equipment vehicle, based on the determined plurality of positions of the vehicle, to continuously operate the heavy equipment vehicle without pause during the transition.
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Abstract
Novel tools and techniques for determining a blended position solution for a vehicle, using data from multiple positioning devices, some of which can be external to the vehicle. Some techniques allow a control system of a vehicle to transition from receiving position data from one positioning device to receiving data from another device without ceasing operation and/or while limiting any resulting discontinuity the position solution (and any resulting work performed by the vehicle) to within acceptable tolerances.
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Citations
31 Claims
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1. A heavy equipment vehicle, comprising:
a computer system comprising a processor and a non-transitory computer readable medium having encoded thereon a set of instructions that are executable by the processor to perform one or more operations, the set of instructions comprising; instructions to receive, from a first positioning device at a first location, first data indicating an estimated position of the heavy equipment vehicle at a first point in time; instructions to receive, from a second positioning device oriented at a second location, second data indicating an estimated position of the heavy equipment vehicle at the first point in time; instructions to determine a first weighting factor for the first data and a second weighting factor for the second data, wherein the first and second weighting factors specify a relative weight to be accorded to each of the first and second data at the first point in time; instructions to apply the first weighting factor to the first data; instructions to apply the second weighting factor to the second data; instructions to determine a blended solution for a first position of the heavy equipment vehicle at the first point in time, based at least in part on the first and second data and the first and second weighting factors; instructions to periodically determine the first and second weighting factors over time, wherein the first and second weighting factors vary over time, resulting in different weights being accorded the first data and second data over time; and instructions to determine a plurality of blended solutions for the position of the vehicle over a period of time, the plurality of blended solutions describing a substantially continuous curve during a transition, over the period of time, from a state in which the second weighting factor disregards the second data in determining a blended solution for a position of the heavy equipment vehicle to a state in which the first weighting factor disregards the first data in determining a blended solution for a position of the heavy equipment vehicle; instructions to control operation of the heavy equipment vehicle, based on the determined plurality of positions of the vehicle, to continuously operate the heavy equipment vehicle without pause during the transition. - View Dependent Claims (2, 3, 4)
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5. A method, comprising:
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orienting a first positioning device at a first location; orienting a second positioning device at a second location; generating, using the first positioning device, first data indicating an estimated position of a vehicle at a first point in time; generating, using the second positioning device, second data indicating an estimated position of the vehicle at the first point in time; receiving, at a computer, the first and second data; determining, with the computer, a first weighting factor for the first data and a second weighting factor for the second data, wherein the first and second weighting factors specify a relative weight to be accorded to each of the first and second data at the first point in time; applying, with the computer, the first weighting factor to the first data; applying, with the computer, the second weighting factor to the second data; determining, with the computer, a blended solution for a first position of the vehicle at the first point in time, based at least in part on the first and second data and the first and second weighting factors; and controlling, with the computer, operation of the vehicle, based on the determined first position of the vehicle. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A system, comprising:
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a processor; and a non-transitory computer readable medium having encoded thereon a set of instructions that are executable by the processor to perform one or more operations, the set of instructions comprising; instructions to receive, from a first positioning device at a first location, first data indicating an estimated position of a vehicle at a first point in time; instructions to receive, from a second positioning device oriented at a second location, second data indicating an estimated position of the vehicle at the first point in time; instructions to determine a first weighting factor for the first data and a second weighting factor for the second data, wherein the first and second weighting factors specify a relative weight to be accorded to each of the first and second data at the first point in time; instructions to apply the first weighting factor to the first data; instructions to apply the second weighting factor to the second data; instructions to determine a blended solution for a first position of the vehicle at the first point in time, based at least in part on the first and second data and the first and second weighting factors; and instructions to control operation of the vehicle, based on the determined first position of the vehicle. - View Dependent Claims (28, 29, 30)
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31. An apparatus, comprising:
a non-transitory computer readable medium having encoded thereon a set of instructions that are executable by a computer to perform one or more operations, the set of instructions comprising; instructions to receive, from a first positioning device at a first location, first data indicating an estimated position of a vehicle at a first point in time; instructions to receive, from a second positioning device oriented at a second location, second data indicating an estimated position of the vehicle at the first point in time; instructions to determine a first weighting factor for the first data and a second weighting factor for the second data, wherein the first and second weighting factors specify a relative weight to be accorded to each of the first and second data at the first point in time; instructions to apply the first weighting factor to the first data; instructions to apply the second weighting factor to the second data; instructions to determine a blended solution for a first position of the vehicle at the first point in time, based at least in part on the first and second data and the first and second weighting factors; and instructions to control operation of the vehicle, based on the determined first position of the vehicle.
Specification