Inclinometer measurement system and method providing correction for movement induced acceleration errors

• US 7,650,252 B2
• Filed: 06/17/2008
• Issued: 01/19/2010
• Est. Priority Date: 06/17/2008
• Status: Active Grant

• Current Assignee: Caterpillar Trimble Control Technologies LLC
• Original Assignee: Caterpillar Trimble Control Technologies LLC
• Inventors: Douglas, Frank Beard
• Primary Examiner(s): Nghiem; Michael P.
• Assistant Examiner(s): KHUU, HIEN DIEU THI
• Application Number:
  US12/140,451
• Publication Number:
  US 20090312974A1
• Time in Patent Office: 581 Days
• Field of Search: 702/154, 702/94, 702/95, 702/141, 702/145, 702/150, 702/151, 73/13.8, 73/17.5, 73/17.9, 73/18.4
• US Class Current: 702/95
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels
• CPC Class Codes: G01C 9/08 Means for compensating acceleration forces due to movement of instrument

Abstract

A system and a method sense the inclination of a machine element, such as a platform, and eliminate tangential and radial acceleration errors. The platform defines orthogonal X and Y axes, and is rotatable about a Z axis. An inclinometer, mounted on the platform at a location spaced from the axis of rotation by a distance r, provides inclinometer outputs indicating acceleration in the X and Y directions, I_x and I_y, respectively. A rate gyro on the platform senses the rotational speed w of the platform. The rate gyro output w is differentiated and multiplied by r to determined tangential acceleration at the inclinometer. A circuit resolves the tangential acceleration into X axis and Y axis components, which are used to correct the inclinometer outputs I_x and I_y for errors that would otherwise result from tangential acceleration.

Claims

1. A system for sensing the inclination of element with respect to gravity, said element defining orthogonal X and Y axes, and a Z axis orthogonal to both said X and Y axes, said element being rotatable about an axis of rotation extending parallel to said Z axis, said element being supported by and rotatable with a platform, comprising:

an inclinometer, mounted on said element at a location spaced from said axis of rotation by a distance r, for providing inclinometer outputs indicating acceleration in the X and Y directions, designated as I_x and I_y, respectively, a line from said axis of rotation to said inclinometer forming an included angle B with said X axis,

a sensor, mounted on said platform, for sensing the rotational speed w of the element about said axis of rotation and providing a sensor output indicating said rotational speed W,

a circuit for differentiating said sensor output to determine the angular acceleration of said element dw/dt,

a circuit for multiplying said angular acceleration by the value r to determine the tangential acceleration of said element at said point where said inclinometer is mounted r(dw/dt),

a circuit for resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, and

a circuit for subtracting said X axis component of said tangential acceleration of said element at said point where said inclinometer is mounted from said acceleration I_x sensed in a direction parallel to said X axis, and for subtracting said Y axis component of said tangential acceleration of said element at said point where said inclinometer is mounted from said acceleration I_y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from tangential acceleration.

2. The system of claim 1, further comprising:

a circuit for squaring the rotational speed w of the element about said axis of rotation, and multiplying the squared rotational speed by the distance r to determine the radial acceleration of the element,

a circuit for resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof, and

a circuit for subtracting said X axis component of said radial acceleration of said element at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and for subtracting said Y axis component of said radial acceleration of said element at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from radial acceleration.

3. The system of claim 2 in which said circuit for resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof, multiplies said radial acceleration of said element at said point where said inclinometer is mounted by cos(B) and sin(B) to determine said X axis and Y axis components, respectively.

4. The system of claim 1 in which said circuit for resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof, multiplies said tangential acceleration of said element at said point where said inclinometer is mounted by sin(B) and cos(B) to determine said X axis and Y axis components, respectively.

5. A method for sensing the inclination of an element with respect to gravity, said element defining orthogonal X and Y axes, and a Z axis orthogonal to both said X and Y axes, said element being rotatable about an axis of rotation extending parallel to said Z axis, comprising the steps of:

sensing acceleration in the X and Y directions, designated as I_x and I_y, respectively, from an inclinometer mounted on said element at a location spaced from said axis of rotation by a distance r, and providing inclinometer outputs indicating acceleration in the X and Y directions,

sensing the rotational speed w of the element about said axis of rotation and providing an output indicating said rotational speed w,

differentiating said rotational speed w to determine the angular acceleration of said element dw/dt,

multiplying said angular acceleration by the value r to determine the tangential acceleration of said element at said point where said inclinometer is mounted r(dw/dt),

resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof,

resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof,

subtracting said X axis component of said tangential acceleration of said element at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and

subtracting said Y axis component of said tangential acceleration of said element at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from tangential acceleration.

6. The method of claim 5, further comprising the steps of:

squaring the rotational speed w of the element about said axis of rotation, and multiplying the squared rotational speed by the distance r to provide the radial acceleration of the element,

resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof,

resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof,

subtracting said X axis component of said radial acceleration of said element at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and

subtracting said Y axis component of said radial acceleration of said element at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from radial acceleration.

7. The method of claim 6 in which said steps of resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and resolving the radial acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof, include the step of multiplying said radial acceleration of said element at said point where said inclinometer is mounted by cos(B) and sin(B) to determine said X axis and Y axis components, respectively, said angle B being an included angle between a line from said axis of rotation to said inclinometer and said X axis.

8. The method of claim 5 in which said steps of resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the X axis component thereof, and resolving the tangential acceleration of said element at said point where said inclinometer is mounted to determine the Y axis component thereof, includes the step of multiplying said tangential acceleration of said element at said point where said inclinometer is mounted by sin(B) and cos(B) to determine said X axis and Y axis components thereof, respectively, said angle B being an included angle between a line from said axis of rotation to said inclinometer and said X axis.

9. A system for sensing the inclination of a platform with respect to gravity, said platform defining orthogonal X and Y axes, and a Z axis orthogonal to both said X and Y axes, said platform being rotatable about an axis of rotation extending parallel to said Z axis, comprising:

an inclinometer, mounted on said platform at a location spaced from said axis of rotation by a distance r, for providing inclinometer outputs indicating acceleration in the X and Y directions, designated as I_x and I_y, respectively, a line from said axis of rotation to said inclinometer forming an included angle B with said X axis,

a rate gyro, mounted on the platform, for sensing the rotational speed w of the platform about said axis of rotation and providing a rate gyro output indicating said rotational speed w,

a circuit for differentiating said rate gyro output to determine the angular acceleration of said platform dw/dt,

a circuit for multiplying said angular acceleration by the value r to determine the tangential acceleration of said platform at said point where said inclinometer is mounted r(dw/dt),

a circuit for resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, and

a circuit for subtracting said X axis component of said tangential acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and for subtracting said Y axis component of said tangential acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from tangential acceleration.

10. The system of claim 9, further comprising:

a circuit for squaring the rotational speed w of the platform about said axis of rotation, and multiplying the squared rotational speed by the distance r to determine the radial acceleration of the platform,

a circuit for resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, and

a circuit for subtracting said X axis component of said radial acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and for subtracting said Y axis component of said radial acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from radial acceleration.

11. The system of claim 10 in which said circuit for resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, multiplies said radial acceleration of said platform at said point where said inclinometer is mounted by cos(B) and sin(B) to determine said X axis and Y axis components, respectively.

12. The system of claim 9 in which said circuit for resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and for resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, multiplies said tangential acceleration of said platform at said point where said inclinometer is mounted by sin(B) and cos(B) to determine said X axis and Y axis components, respectively.

13. A method for sensing the inclination of a platform with respect to gravity, said platform defining orthogonal X and Y axes, and a Z axis orthogonal to both said X and Y axes, said platform being rotatable about an axis of rotation extending parallel to said Z axis, comprising the steps of:

sensing acceleration in the X and Y directions, designated as I_x and I_y, respectively, from an inclinometer mounted on said platform at a location spaced from said axis of rotation by a distance r, and providing inclinometer outputs indicating acceleration in the X and Y directions,

sensing the rotational speed w of the platform about said axis of rotation and providing an output indicating said rotational speed w,

differentiating said rotational speed w to determine the angular acceleration of said platform dw/dt,

multiplying said angular acceleration by the value r to determine the tangential acceleration of said platform at said point where said inclinometer is mounted r(dw/dt),

resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof,

resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof,

subtracting said X axis component of said tangential acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and

subtracting said Y axis component of said tangential acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from tangential acceleration.

14. The method of claim 13, further comprising the steps of:

squaring the rotational speed w of the platform about said axis of rotation, and multiplying the squared rotational speed by the distance r to provide the radial acceleration of the platform,

resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof,

resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof,

subtracting said X axis component of said radial acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_X sensed in a direction parallel to said X axis, and

subtracting said Y axis component of said radial acceleration of said platform at said point where said inclinometer is mounted from said acceleration I_Y sensed in a direction parallel to said Y axis, whereby said inclinometer outputs I_x and I_y are corrected for errors that would otherwise result from radial acceleration.

15. The method of claim 14 in which said steps of resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and resolving the radial acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, include the step of multiplying said radial acceleration of said platform at said point where said inclinometer is mounted by cos(B) and sin(B) to determine said X axis and Y axis components, respectively, said angle B being an included angle between a line from said axis of rotation to said inclinometer and said X axis.

16. The method of claim 13 in which said steps of resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the X axis component thereof, and resolving the tangential acceleration of said platform at said point where said inclinometer is mounted to determine the Y axis component thereof, includes the step of multiplying said tangential acceleration of said platform at said point where said inclinometer is mounted by sin(B) and cos(B) to determine said X axis and Y axis components thereof, respectively, said angle B being an included angle between a line from said axis of rotation to said inclinometer and said X axis.