System for determining error in a sensed machine position

• US 9,541,420 B2
• Filed: 04/03/2013
• Issued: 01/10/2017
• Est. Priority Date: 04/03/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Friend, Paul
• Primary Examiner(s): Charioui, Mohamed
• Assistant Examiner(s): Liang, Leonard S
• Application Number:
  US13/856,037
• Publication Number:
  US 20140303923A1
• Time in Patent Office: 1,378 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01D 3/022 having an ideal characteristic, map or correction data stored in a digital memory
• CPC Class Codes: G01D 5/2448 Correction of gain, threshold, offset or phase control
• CPC Class Codes: G01N 21/274 Calibration, base line adjustment, drift correction
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A system for determining an error in a sensed position of a machine includes a position sensing system, a dead reckoning system, and a controller. The controller is configured to determine a difference between a sensed position and a calculated position determined by dead reckoning. The difference is compared to an error threshold defining a maximum acceptable distance between the sensed position of the machine and the calculated position of the machine and an error signal generated if the difference exceeds the error threshold. A pair of offset dead reckoning processes may be used.

Claims

1. A system for determining an error in a sensed position of a machine, comprising:

a position sensing system, including a GPS sensor, mounted on the machine for determining a sensed position of the machine;

a dead reckoning system, including an inertial measurement unit, mounted on the machine for determining a calculated position of the machine; and

a controller configured to;

store an error threshold defining a maximum acceptable distance between the sensed position of the machine and the calculated position of the machine;

execute a first verification cycle configured to;

determine an initialization position based upon the position sensing system;

determine a calculated position based upon the initialization position and the dead reckoning system;

determine a sensed position based upon the position sensing system;

determine a difference between the calculated position and the sensed position;

compare the difference to the error threshold; and

generate an error signal if the difference exceeds the error threshold;

execute a second verification cycle configured to;

determine a second initialization position of the machine based upon the position sensing system, the second initialization position being spaced from the initialization position,

determine a second calculated position based upon the second initialization position and the dead reckoning system,

determine a second difference between the second calculated position and the sensed position, compare the second difference to the error threshold; and

generate an error signal if the second difference exceeds the error threshold;

wherein the first and second initialization positions are staggered such that the second verification cycle starts before the first verification cycle is completed.

2. The system of claim 1, wherein the inertial measurement unit includes an acceleration sensor, the acceleration sensor being configured to provide an acceleration signal indicative of an acceleration of the machine, and the controller is further configured to receive an acceleration signal from the acceleration sensor and determine the calculated position based upon the acceleration signal.

3. The system of claim 2, wherein the inertial measurement unit further includes a pitch rate sensor mounted on the machine, the pitch rate sensor being configured to provide a pitch rate signal indicative of a pitch rate of the machine, and the controller is further configured to receive a pitch rate signal from the pitch rate sensor and determine the calculated position based upon the pitch rate signal.

4. The system of claim 1, wherein the inertial measurement unit includes a pitch rate sensor, the pitch rate sensor being configured to provide a pitch rate signal indicative of a pitch rate of the machine, and the controller is further configured to receive a pitch rate signal from the pitch rate sensor and determine the calculated position based upon the pitch rate signal.

5. The system of claim 1, wherein the controller is further configured to stop the machine upon generating an error signal.

6. The system of claim 1, wherein the controller is further configured to slow the machine upon generating an error signal.

7. The system of claim 1, wherein the controller is further configured to delay determining the difference until passage of a predetermined period of time after determining the initialization position.

8. A controller-implemented method for determining an error in a sensed position of a machine, comprising:

storing an error threshold defining a maximum acceptable distance between a sensed position of the machine based upon a position sensing system including a GPS sensor and a calculated position of the machine based upon a dead reckoning system including an inertial measurement unit which further includes a pitch rate sensor and an acceleration sensor;

executing a first verification cycle comprising;

determining an initialization position based upon the position sensing system;

determining a calculated position based upon the initialization position and the dead reckoning system;

determining a sensed position based upon the position sensing system;

determining a difference between the calculated position and the sensed position;

comparing the difference to the error threshold; and

generating an error signal if the difference exceeds the error threshold;

executing a second verification cycle comprising;

determining a second initialization position of the machine based upon the position sensing system, the second initialization position being spaced from the initialization position;

determining a second calculated position based upon the second initialization position and the dead reckoning system;

determining a second difference between the second calculated position and the sensed position;

comparing the second difference to the error threshold; and

generating an error signal if the second difference exceeds the error threshold;

wherein the first and second initialization positions are staggered such that the second verification cycle starts before the first verification cycle is completed.

9. The method of claim 8, further including providing an acceleration signal from the acceleration sensor indicative of an acceleration of the machine, and determining the calculated position based upon the acceleration signal.

10. The method of claim 9, further including providing a pitch rate signal from the pitch rate sensor indicative of a pitch rate of the machine, and determining the calculated position based upon the pitch rate signal.

11. The method of claim 8, further including providing a pitch rate signal from the pitch rate sensor indicative of a pitch rate of the machine, and determining the calculated position based upon the pitch rate signal.

12. The method of claim 8, further including stopping the machine upon generating an error signal.

13. The method of claim 8, further including slowing the machine upon generating an error signal.

14. The method of claim 8, further including delaying determining the difference until passage of a predetermined period of time after determining the initialization position.

15. An autonomously operated machine comprising:

a propulsion system;

a steering system;

a position sensing system including a GPS sensor mounted on the machine for determining a sensed position of the machine;

a dead reckoning system including an inertial measurement unit, mounted on the machine for determining a calculated position of the machine;

an accuracy verification system for determining an error in the sensed position; and

a controller configured to;

store an error threshold defining a maximum acceptable distance between the sensed position of the machine and the calculated position of the machine;

execute a first verification cycle configured to;

determine an initialization position based upon the position sensing system;

determine a calculated position based upon the initialization position and the dead reckoning system;

determine a sensed position based upon the position sensing system;

determine a difference between the calculated position and the sensed position;

compare the difference to the error threshold; and

generate an error signal if the difference exceeds the error threshold;

execute a second verification cycle configured to;

determine a second initialization position of the machine based upon the position sensing system, the second initialization position being spaced from the initialization position;

determine a second calculated position based upon the second initialization position and the dead reckoning system;

determine a second difference between the second calculated position and the sensed position, compare the second difference to the error threshold; and

generate an error signal if the second difference exceeds the error threshold;

wherein the first and second initialization positions are staggered such that the second verification cycle starts before the first verification cycle is completed.