POSITION IDENTIFICATION SYSTEM WITH MULTIPLE CROSS-CHECKS
First Claim
1. A system for determining the position of a mobile machine, the system comprising:
- at least one motion sensor configured for detecting one or more of changes in position, velocity, acceleration, heading, wheel speed, rotation, steering angle, or orientation of the mobile machine;
at least one global positioning system (GPS) receiver in addition to said at least one motion sensor, said at least one GPS receiver configured to generate a first location signal indicative of an actual location of the mobile machine;
an integration module configured to integrate information from said at least one motion sensor and said at least one GPS receiver to generate a second location signal indicative of an actual location of the mobile machine; and
a controller in communication with the at least one motion sensor, the at least one GPS receiver, and the integration module, the controller being configured to;
determine the reliability of information received from the at least one motion sensor, the at least one GPS receiver, and the integration module; and
following a period of time from when received information is first determined to be unreliable, switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine.
1 Assignment
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Accused Products
Abstract
A position identification system for use with a mobile machine at a worksite is disclosed. The system may include an integration module configured to integrate information from at least one motion sensor and at least one GPS receiver to generate a location signal indicative of an actual location of the mobile machine. A controller may be provided in communication with the at least one motion sensor, the at least one GPS receiver, and the integration module, the controller being configured to determine the reliability of information received from the at least one motion sensor, the at least one GPS receiver, and the integration module, and following a period of time from when received information is first determined to be unreliable, switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine.
22 Citations
22 Claims
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1. A system for determining the position of a mobile machine, the system comprising:
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at least one motion sensor configured for detecting one or more of changes in position, velocity, acceleration, heading, wheel speed, rotation, steering angle, or orientation of the mobile machine; at least one global positioning system (GPS) receiver in addition to said at least one motion sensor, said at least one GPS receiver configured to generate a first location signal indicative of an actual location of the mobile machine; an integration module configured to integrate information from said at least one motion sensor and said at least one GPS receiver to generate a second location signal indicative of an actual location of the mobile machine; and a controller in communication with the at least one motion sensor, the at least one GPS receiver, and the integration module, the controller being configured to; determine the reliability of information received from the at least one motion sensor, the at least one GPS receiver, and the integration module; and following a period of time from when received information is first determined to be unreliable, switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of checking the position of a mobile machine, the method comprising:
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receiving first signals indicative of one or more of changes in position, velocity, acceleration, heading, wheel speed, rotation, steering angle, or orientation of the mobile machine from one or more motion sensors; receiving second signals indicative of an actual location of the mobile machine from at least one global positioning system (GPS) receiver in addition to said one or more motion sensors; integrating information from said one or more motion sensors and said at least one GPS receiver using an integration module to generate an integrated location signal indicative of an actual location of the mobile machine; determining the reliability of information received from the one or more motion sensors, the at least one GPS receiver, and the integration module; and switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine following a period of time from when received information is first determined to be unreliable. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A non-transitory computer readable medium for use by a system for determining a position of a mobile machine, the non-transitory computer readable medium having executable instructions stored thereon for performing a method of monitoring a position of a base station, the method comprising:
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receiving first signals indicative of one or more of changes in position, velocity, acceleration, heading, wheel speed, rotation, steering angle, or orientation of the mobile machine from one or more motion sensors; receiving second signals indicative of an actual location of the mobile machine from at least one global positioning system (GPS) receiver in addition to said one or more motion sensors; integrating information from said one or more motion sensors and said at least one GPS receiver using an integration module to generate an integrated location signal indicative of an actual location of the mobile machine; determining the reliability of information received from the one or more motion sensors, the at least one GPS receiver, and the integration module; and switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine following a period of time from when received information is first determined to be unreliable.
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Specification