Machine positioning system utilizing relative pose information

• US 9,465,113 B2
• Filed: 01/02/2014
• Issued: 10/11/2016
• Est. Priority Date: 01/02/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Friend, Paul Russell
• Primary Examiner(s): Do, Truc M
• Application Number:
  US14/146,485
• Publication Number:
  US 20150185024A1
• Time in Patent Office: 1,013 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

A system and method for estimating a position of a machine is disclosed. The method may include determining a first position estimate and a first uncertainty measure of the first machine. The method may further include receiving, from a second machine, relative pose information determined by the second machine and a second uncertainty measure of the second machine. The method may further include determining that the first uncertainty measure is higher than the second uncertainty measure. The method may further include, in response to determining that the first uncertainty measure is higher than the second uncertainty measure, determining a second position estimate of the first machine based on the first position estimate and the relative pose information.

Claims

1. A method of determining an absolute position of a first machine, the first machine including a locating device and a controller with a processor and a memory component, the method comprising:

generating with the locating device, and receiving with the processor, a location signal indicative of a first absolute position estimate of the first machine and a first uncertainty measure, the first uncertainty corresponding to the first absolute position estimate;

receiving with the processor, from a second machine, relative pose information determined by the second machine, a second absolute position estimate of the second machine, and a second uncertainty measure, the second uncertainty measure corresponding to the second absolute position estimate;

determining with the processor that the first uncertainty measure is higher than the second uncertainty measure;

determining with the processor, at least in part in response to determining that the first uncertainty measure is higher than the second uncertainty measure, the absolute position of the first machine, and a first machine absolute uncertainty measure;

based, at least in part, on the first absolute position estimate, the relative pose information, the second absolute position estimate, and the second uncertainty measure; and

storing the absolute position of the first machine in the memory component.

2. The method of claim 1, wherein the relative pose information includes range information indicative of a distance between the first machine and the second machine as determined by the second machine.

3. The method of claim 1, wherein the relative pose information includes orientation information indicative of an orientation between the first machine and the second machine as determined by the second machine.

4. The method of claim 1, wherein:

the relative pose information includes range information and orientation information,

the range information is indicative of a distance between the first machine and the second machine as determined by the second machine, and

the orientation information is indicative of an orientation between the first machine and the second machine as determined by the second machine.

5. The method of claim 1, wherein the absolute position of the first machine is more accurate than the first absolute position estimate.

6. The method of claim 1, wherein the locating device comprises a global positioning system.

7. The method of claim 1, further comprising:

determining, by the first machine, relative pose information with respect to the second machine, and

communicating the relative pose information determined by the first machine to the second machine.

8. A system for determining an absolute position of a first machine, comprising:

a locating device, at the first machine, configured to generate a first location signal indicative of a first absolute location estimate of the first machine, and a first uncertainty measure associated with the first absolute location estimate of the first machine; and

a controller, at the first machine, in communication with the locating device, the controller configured to;

determine the first absolute position estimate and the first uncertainty measure of the first machine based on the first location signal;

receive, from a second machine, relative pose information determined by the second machine, a second absolute position estimate of the second machine, and a second uncertainty measure, the second uncertainty measure corresponding to of the second absolute position estimate;

determine that the first uncertainty measure is higher than the second uncertainty measure; and

at least in part in response to determining that the first uncertainty measure is higher than the second uncertainty measure, determine the absolute position of the first machine, and a first machine absolute uncertainty measure;

based, at least in part, on the first absolute position estimate, the relative pose information, the second absolute position estimate, and the second uncertainty measure; and

store the absolute position of the first machine in a memory component.

9. The system of claim 8, wherein the relative pose information includes range information indicative of a distance between the first machine and the second machine as determined by the second machine.

10. The system of claim 8, wherein the relative pose information includes orientation information indicative of an orientation between the first machine and the second machine as determined by the second machine.

11. The system of claim 8, wherein:

the relative pose information includes range information and orientation information, the range information is indicative of a distance between the first machine and the second machine as determined by the second machine, and

the orientation information is indicative of an orientation between the first machine and the second machine as determined by the second machine.

12. The system of claim 8, wherein the absolute position of the first machine is more accurate than the first absolute position estimate.

13. The system of claim 8, wherein the locating device comprises a global positioning system.

14. The system of claim 8, wherein the controller is further configured to:

determine relative pose information with respect to the second machine, and

communicate the determined relative pose information to the second machine.

15. A machine control program product, comprising:

a non-transitory computer-readable storage medium; and

machine controller processor readable code stored on the non-transitory computer readable storage medium, where, if executed by a machine controller-processor of a first machine, the machine controller processor readable code causes the first machine to execute a method of determining an absolute position of the first machine, the method comprising;

determining with the processor a first absolute position estimate and a first uncertainty measure of the first machine, at least in part, in response to the processor receiving a signal from a locating device of the first machine;

receiving with the processor, from a second machine, relative pose information determined by the second machine, a second absolute position estimate of the second machine, and a second uncertainty measure, the second uncertainty measure corresponding to the second absolute position estimate;

determining with the processor that the first uncertainty measure is higher than the second uncertainty measure; and

determining with the processor, at least in part in response to determining that the first uncertainty measure is higher than the second uncertainty measure, the absolute position of the first machine, and a first machine absolute uncertainty measure;

based, at least in part, on the first absolute position estimate, the relative pose information, the second absolute position estimate, and the second uncertainty measure; and

storing the absolute position of the first machine in a memory component.

16. The machine control program product of claim 15, wherein the relative pose information includes range information indicative of a distance between the first machine and the second machine as determined by the second machine.

17. The machine control program product of claim 15, wherein the relative pose information includes orientation information indicative of an orientation between the first machine and the second machine as determined by the second machine.

18. The machine control program product of claim 15, wherein:

the relative pose information includes range information and orientation information,

the range information is indicative of a distance between the first machine and the second machine as determined by the second machine, and

the orientation information is indicative of an orientation between the first machine and the second machine as determined by the second machine.

19. The machine control program product of claim 15, wherein the absolute position of the first machine is more accurate than the first absolute position estimate.

20. The machine control program product of claim 15, wherein the locating device comprises a global positioning system.