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Inclination angle compensation systems and methods

  • US 9,020,776 B2
  • Filed: 09/28/2011
  • Issued: 04/28/2015
  • Est. Priority Date: 09/28/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method of determining an inclination of a machine comprising:

  • receiving a measured inclination angular rate of a machine measured by an inclination angular rate sensor;

    estimating an estimated inclination angle of the machine by integrating the measured inclination angular rate;

    estimating a non-gravitational acceleration of the machine based on the estimated inclination angle and an acceleration output from a forward acceleration sensor;

    receiving a measured inclination angle measured by an inclination angle sensor;

    determining an inclination angle sensor acceleration based on the measured inclination angle;

    calculating a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration; and

    determining an a posteriori estimated inclination angle of the machine based on the corrected inclination angle,wherein the corrected inclination angle of the machine is calculated as;

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