Vehicle gyro based steering assembly angle and angular rate sensor

• US 20070088477A1
• Filed: 10/15/2005
• Published: 04/19/2007
• Est. Priority Date: 10/15/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: White, Gregory, Peake, John, Brewer, Douglas
• Granted Patent: US 7,477,973 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 15/024 Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

A method for estimation of relative coordinates between at least two parts of a system comprising the steps of: (A) providing each of at least two parts of the system with at least one coordinate sensor; (B) measuring a set of relevant coordinates for each part of the system; and (C) processing each measurement result performed in the step (B) to estimate the relative coordinates between at least two parts of the system. The relative coordinates are selected from the group consisting of: {relative position coordinates; relative position rate (velocity) coordinates; relative position acceleration coordinates; relative angle coordinates; relative angular rate coordinates; and relative angular acceleration coordinates}.

Claims

1. A method for estimation of relative coordinates between at least two parts of a system comprising the steps of:

(A) providing each of said at least two parts of said system with at least one coordinate sensor;

(B) measuring a set of relevant coordinates for each said part of said system;

and

(C) processing each said measurement result performed in said step (B) to estimate said relative coordinates between at least two said parts of said system;

wherein said relative coordinates are selected from the group consisting of;

{relative position coordinates;

relative position rate (velocity) coordinates;

relative position acceleration coordinates;

relative angle coordinates;

relative angular rate coordinates; and

relative angular acceleration coordinates}.

2. The method of claim 1, wherein said system comprises a main body and at least one sub assembly;

and wherein said step (A) further comprises the steps of;

(A1) mounting a first sensor A to said at least one sub assembly to measure a movement rate of said sub assembly;

wherein said movement rate of said sub assembly is selected from the group consisting of;

{linear velocity, linear acceleration;

angular velocity; and

angular acceleration};

(A2) mounting a second sensor B to said main body to measure a movement rate of said main body;

wherein said movement rate of said main body is selected from the group consisting of;

{linear velocity, linear acceleration;

angular velocity; and

angular acceleration};

and

(A3) providing a third absolute measurement sensor C configured to estimate an integrator offset and a drift rate due to said first sensor A bias and to said second sensor B bias.

3. The method of claim 2, wherein said step (B) further comprises the steps of:

(B1) using said first sensor A to measure said movement rate of said at least one sub assembly;

(B2) using said second sensor B to measure said movement rate of said main body;

and

(B3) using said third sensor C measurement to estimate said integrator offset and said drift rate due to said first sensor A bias and due to said second sensor B bias.

4. The method of claim 2, wherein said step (C) further comprises the steps of:

(C1) processing said measurement result performed in said step (B1) and said measurement result performed in said step (B2) to estimate a difference between said measurement result performed in said step (B1) and said measurement result performed in said step (B2);

(C2) integrating over time said difference estimate obtained in said step (C1) to estimate said relative motion between said main body and said at least one sub assembly;

and

(C3) processing said estimate result performed in said step (B3) to provide a set of correction data to said estimate result obtained in said step (C2).

5. The method of claim 4, wherein said step (C2) further comprises the step of:

(C2,

     1) integrating over substantially continuous time period said difference estimate obtained in said step (C1) to estimate said relative motion between said main body and said at least one sub assembly.

6. The method of claim 1, wherein said step (A) further comprises the following steps of:

(A4) providing a vehicle having at least one controllable ground wheel and a main body;

(A5) providing said sensor A comprising a single rate gyroscope attached to said at least one controllable ground wheel of said vehicle; and

wherein said sensor A is configured to measure a selected plane parallel to ground;

(A6) providing said sensor B comprising at least one rate gyroscope attached to said main body of said vehicle, wherein said sensor B is mounted in said selected plane and is configured to measure said selected plane;

(A7) providing said sensor C configured to estimate an absolute steering angle of said vehicle based on said vehicle kinematics model;

and

(A8) using a feedback compensator to estimate and to compensate said integrator offset and said drift rate based on estimation of said absolute steering angle performed in said step (A7).

7. The method of claim 6, wherein said vehicle includes a single controllable ground wheel and a main body;

and wherein said step (A5) further comprises the following step of;

(A5,

     1) providing said sensor A comprising a single rate gyroscope attached to said controllable ground wheel of said vehicle; and

wherein said sensor A is configured to measure a selected plane parallel to ground; and

wherein a compensation for the Ackerman steering nonlinearity for said single rate gyroscope is provided.

8. The method of claim 6, wherein said vehicle includes two controllable ground wheels and a main body;

wherein said step (A5) further comprises the following step of;

(A5,

     2) providing said first sensor A comprising an average of two gyro sensors mounted on both controllable ground wheels to cancel the Ackerman steering nonlinearity;

wherein said sensor A is configured to measure said selected plane parallel to ground.

9. The method of claim 6, wherein said step (A6) further comprises the following step of:

(A6,

     1) providing said sensor B comprising a combination of gyros with outputs combined;

wherein said sensor B is configured to measure said selected plane.

10. The method of claim 1, wherein said step (A) further comprises the following steps of:

(A9) providing a vehicle having a main body and a rotatable vehicle arm;

(A10) providing said first sensor A comprising a rate gyroscope attached to said arm;

(A11) providing said sensor B comprising a rate gyroscope attached to said main body of said vehicle,

and

(A12) providing said sensor C comprising a contact switch configured to make a contact when said arm is at its nominal position.

11. An apparatus for estimation of relative coordinates between at least two parts of a system comprising:

(A) a means for measuring a set of relevant coordinates for each said part of said system;

and

(B) a means for processing a set of measurements to estimate said relative coordinates between at least two said parts of said system;

wherein said relative coordinates are selected from the group consisting of;

{relative position coordinates;

relative position rate (velocity) coordinates;

relative position acceleration coordinates;

relative angle coordinates;

relative angular rate coordinates; and

relative angular acceleration coordinates}.

12. The apparatus of claim 11, wherein said system comprises a main body and at least one sub assembly;

and wherein said means (A) further comprises;

(A1) a first sensor A mounted to said at least one sub assembly and configured to measure a movement rate of said sub assembly;

wherein said movement rate is selected from the group consisting of;

{linear velocity, linear acceleration;

angular velocity; and

angular acceleration};

(A2) a second sensor B mounted to said main body and configured to measure a movement rate of said main body;

wherein said movement rate is selected from the group consisting of;

{linear velocity, linear acceleration;

angular velocity; and

angular acceleration};

and

(A3) a third absolute measurement sensor C configured to estimate an integrator offset and a drift rate due to said first sensor A bias and to said second sensor B bias.

13. The apparatus of claim 12, wherein said means (B) further comprises:

(B1) a means configured to estimate a difference between said measurement results obtained by said sensor A and said sensor B;

(B2) a means configured to integrate over time said difference estimate obtained by said means (B1) to estimate said relative motion between said main body and said at least one sub assembly;

and

(B3) a means configured to process said estimate result obtained by said sensor C to provide a set of correction data to said estimate result obtained by said means (B2).

14. The apparatus of claim 11, wherein said system comprises a vehicle having at least one controllable ground wheel and a main body;

and wherein said means (A) further comprises;

(A4) a sensor A comprising a single rate gyroscope attached to said at least one controllable ground wheel of said vehicle;

wherein said sensor A is configured to measure a selected plane parallel to ground;

(A5) a sensor B comprising at least one rate gyroscope attached to said main body of said vehicle, wherein said sensor B is mounted in said selected plane and is configured to measure said selected plane;

(A6) a sensor C configured to estimate an absolute steering angle of said vehicle based on said vehicle kinematics model;

and

(A7) a feedback compensator configured to estimate and to compensate said integrator offset and said drift rate based on estimation of said absolute steering angle obtained by said sensor C.

15. The apparatus of claim 14, wherein said vehicle includes a single controllable ground wheel and a main body;

and wherein said means (A4) further comprises;

(A4,

     1) said sensor A comprising a single rate gyroscope attached to said controllable ground wheel of said vehicle;

wherein said sensor A is configured to measure a selected plane parallel to ground; and

wherein a compensation for the Ackerman steering nonlinearity for said single rate gyroscope is provided.

16. The apparatus of claim 14;

wherein said vehicle includes two controllable ground wheels and a main body; and

wherein said means (A4) further comprises;

(A4,

     2) said first sensor A comprising an average of two gyro sensors mounted on both controllable ground wheels and configured to cancel the Ackerman steering nonlinearity;

wherein said sensor A is configured to measure said selected plane parallel to ground.

17. The apparatus of claim 14;

wherein said means (A5) further comprises;

(A5,

     1) said sensor B comprising a combination of gyros with outputs combined;

wherein said sensor B is configured to measure said selected plane.

18. The apparatus of claim 11;

wherein said system includes a vehicle having a main body and a rotatable vehicle arm; and

wherein said means (A) further comprises;

(A8) a sensor A comprising a rate gyroscope attached to said arm;

(A9) a sensor B comprising a rate gyroscope attached to said main body of said vehicle;

and

(A10) a sensor C comprising a contact switch configured to make a contact when said arm is at its nominal position.

19. The apparatus of claim 18;

wherein said system includes a vehicle having a main body and an excavator arm; and

wherein said sensor C further comprises;

a switch configured to make a contact when said excavator arm is at its nominal center position.