Inclination angle compensation systems and methods
First Claim
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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Accused Products
Abstract
An inclination angle compensation system for determining an inclination angle of a machine is disclosed. The inclination angle compensation system may have a non-gravitational acceleration estimator configured to estimate a non-gravitational acceleration of a machine based on an estimated inclination angle and an acceleration output from a forward acceleration sensor. The inclination angle compensation system may also have an inclination angle sensor corrector configured to receive an inclination angle output from an inclination angle sensor, determine an inclination angle sensor acceleration based on the inclination angle output, and calculate a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration.
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Citations
14 Claims
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1. A computer-implemented method of determining an inclination of a machine comprising:
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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; - View Dependent Claims (2, 3, 4, 5)
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6. An inclination angle compensation system for determining an inclination angle of a machine comprising:
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an inclination angle sensor configured to measure an inclination angle of a machine; an inclination angular rate sensor configured to measure an inclination angular rate of the machine; an inclination angle estimator configured to; receive the measured inclination angular rate from the inclination angular rate sensor; and estimate an estimated inclination angle by integrating the inclination angular rate; a non-gravitational acceleration estimator configured to estimate a non-gravitational acceleration of the machine based on the estimated inclination angle and an acceleration output from a forward acceleration sensor; and an inclination angle sensor corrector configured to; receive a measured inclination angle output from an inclination angle sensor; determine an inclination angle sensor acceleration based on the measured inclination angle; calculate a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration; and determine 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; - View Dependent Claims (7, 8, 9, 10)
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11. A non-transitory computer-readable storage device storing instructions for determining an inclination of a machine, the instructions causing one or more computer processors to perform operations comprising:
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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; - View Dependent Claims (12, 13, 14)
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Specification