Method of operating a magnetic compass on a machine

• US 8,463,569 B2
• Filed: 03/21/2011
• Issued: 06/11/2013
• Est. Priority Date: 03/21/2011
• Status: Active Grant

• Current Assignee: Caterpillar Trimble Control Technologies LLC
• Original Assignee: Caterpillar Trimble Control Technologies LLC
• Inventors: Cain, Gary Lynn, Apple, Chad Curtis, Enix, Bruce Wayne
• Primary Examiner(s): BHAT, ADITYA S
• Application Number:
  US13/052,393
• Publication Number:
  US 20120245874A1
• Time in Patent Office: 813 Days
• Field of Search: 702/92
• US Class Current: 702/92
• CPC Class Codes: G01C 17/02 Magnetic compasses
• CPC Class Codes: G01V 3/081 the magnetic field is produced by the objects or geological structures characterised by the method of magnetic field measurement G01R33/00
• CPC Class Codes: G01V 3/165 operating with magnetic or electric fields produced or modified by the object or by the detecting device with electromagnetic waves G01V3/17

Abstract

A method of determining the heading of an excavator at a worksite uses a magnetic field sensor, mounted on the excavator, inclinometers that provide an indication of the pitch and roll of the excavator, a gyroscopic sensor that senses the rotational rate of the excavator about the Z axis of the magnetic field sensor, and a processor circuit, having an associated memory. A calibration table of data is created and stored using the gyroscopic sensor as the excavator is rotated at a uniform velocity. The sensed indications of the magnetic field from the coordinate reference frame of the sensor are transformed to the local level plane coordinate reference frame using the outputs from the inclinometers.

Claims

1. A method of determining the heading of an excavator at a worksite using a magnetic field sensor, mounted on the excavator, said magnetic field sensor providing indications of the magnitude of the magnetic field of the earth in the X, Y and Z directions of the sensor, using inclinometers that provide an indication of the pitch and roll of the excavator, using a gyroscopic sensor for sensing rotation of the excavator about the Z axis of the magnetic field sensor, and using a processor circuit, having an associated memory, responsive to said magnetic field sensor, said inclinometers, and said gyroscopic sensor, comprising:

creating and storing a calibration table of data, including

rotating said excavator at substantially constant speed about a generally vertical Z axis,

storing the outputs from said magnetic field sensor, and said gyroscopic sensor,

determining the beginning and end of a complete rotation of the excavator based on the repetition of data values from said magnetic field sensor, and

scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding data received from the magnetic field sensor into substantially equal angular increments, and storing such scaled data,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

transforming the sensed indications of the magnetic field from the X, Y and Z coordinate reference frame of the sensor to the local level plane coordinate reference frame using the outputs from the inclinometers,

determining the hard iron components of the transformed sensed indication of the magnetic field and removing such hard iron components to produce corrected indications of the magnetic field in the local level plane coordinate reference frame, and

comparing the corrected indications to the stored, scaled data to determine the heading of the excavator.

2. The method of claim 1, in which creating and storing a calibration table of data includes compensating the stored outputs for hard iron induced errors.

3. The method of claim 1, in which scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding indications data received from the magnetic field sensor into substantially equal angular increments comprises scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding indications data received from the magnetic field sensor into equal increments.

4. The method of claim 1, in which determining the hard iron components of the transformed sensed indication of the magnetic field comprises

positioning the excavator to have a heading substantially toward magnetic north,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

sensing the pitch and roll of the excavator,

pitching the excavator by a few degrees,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor, and

sensing the pitch and roll of the excavator.

5. The method of claim 1, in which creating and storing a calibration table of data further includes benching the excavator by rotating it to a predetermined reference heading, and determining the corresponding data from the table which represents the predetermined heading, whereby the balance of the data represents headings of the excavator in angular increments away from the predetermined reference heading.

6. A method of determining the heading of an excavator and compensating for soft iron errors at a worksite using a magnetic field sensor, mounted on the excavator, said magnetic field sensor providing indications of the magnitude of the magnetic field of the earth in the X, Y and Z directions of the sensor, using gravity reference sensors that provide an indication of the pitch and roll of the excavator, using a gyroscopic sensor for sensing rotation of the excavator about the Z axis of the magnetic field sensor, and using a processor circuit, having an associated memory, responsive to said magnetic field sensor, said inclinometers, and said gyroscopic sensor, comprising:

creating and storing a calibration table of data, including

noting the pitch and roll of the excavator,

rotating said excavator at substantially constant speed about a substantially vertical Z axis through a complete rotation,

storing the outputs from said magnetic field sensor, said inclinometers, and said gyroscopic sensor,

determining the beginning and end of a complete rotation of the excavator based on the repetition of data values from said magnetic field sensor, and

scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding data received from the magnetic field sensor into substantially equal angular increments, and storing such scaled data,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

transforming the sensed indications of the magnetic field from the X, Y and Z coordinate reference frame of the sensor to the local level plane coordinate reference frame using the outputs from the inclinometers, and

comparing the corrected indications to the stored, scaled data to determine the heading of the excavator.

7. The method of claim 6, in which creating and storing a calibration table of data includes compensating the stored outputs for hard iron induced errors.

8. The method of claim 6, in which scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding indications data received from the magnetic field sensor into substantially equal angular increments comprises scaling the data received from said gyroscopic sensor during the complete rotation and the corresponding indications data received from the magnetic field sensor into one degree increments.

9. The method of claim 6, in which determining the hard iron components of the transformed sensed indication of the magnetic field comprises

positioning the excavator to have a heading substantially toward magnetic north,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

sensing the pitch and roll of the excavator,

pitching the excavator by a few degrees,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor, and

sensing the pitch and roll of the excavator.

10. The method of claim 6, in which creating and storing a calibration table of data further includes benching the excavator by rotating it to a predetermined reference heading, and determining the corresponding data from the table which represents the predetermined heading, whereby the balance of the data represents headings of the excavator in angular increments away from the predetermined reference heading.

11. A method of determining the heading of an excavator at a worksite using a magnetic field sensor, mounted on the excavator, said magnetic field sensor providing indications of the magnitude of the magnetic field of the earth in the X, Y and Z directions of the sensor, using inclinometers that provide an indication of the pitch and roll of the excavator, using a gyroscopic sensor for sensing rotation of the excavator about the Z axis of the magnetic field sensor, and using a processor circuit, having an associated memory, responsive to said magnetic field sensor, said inclinometers, and said gyroscopic sensor, comprising:

creating and storing a calibration table of data, including

rotating said excavator about a generally vertical Z axis through less than a complete rotation,

storing the outputs from said magnetic field sensor, and said gyroscopic sensor, and

separating the data received from said gyroscopic sensor during the less than complete rotation and the corresponding data received from the magnetic field sensor into substantially equal angular increments, and storing such data,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

transforming the sensed indications of the magnetic field from the X, Y and Z coordinate reference frame of the sensor to the local level plane coordinate reference frame using the outputs from the inclinometers,

determining the hard iron components of the transformed sensed indication of the magnetic field and removing such hard iron components to produce corrected indications of the magnetic field in the local level plane coordinate reference frame, and

comparing the corrected indications to the stored, scaled data to determine the heading of the excavator.

12. The method of claim 11, in which creating and storing a calibration table of data includes compensating the stored outputs for hard iron induced errors.

13. The method of claim 11, in which scaling the data received from said gyroscopic sensor during the less than complete rotation and the corresponding indications data received from the magnetic field sensor into substantially equal angular increments comprises separating the data received from said gyroscopic sensor during the less than complete rotation and the corresponding indications data received from the magnetic field sensor into equal increments.

14. The method of claim 11, in which determining the hard iron components of the transformed sensed indication of the magnetic field comprises

positioning the excavator to have a heading substantially toward magnetic north,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

sensing the pitch and roll of the excavator,

pitching the excavator by a few degrees,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor, and

sensing the pitch and roll of the excavator.

15. The method of claim 11, in which creating and storing a calibration table of data further includes benching the excavator by rotating it to a predetermined reference heading, and determining the corresponding data from the table which represents the predetermined heading, whereby the balance of the data represents headings of the excavator in angular increments away from the predetermined reference heading.

16. A method of determining the heading of an excavator and compensating for soft iron errors at a worksite using a magnetic field sensor, mounted on the excavator, said magnetic field sensor providing indications of the magnitude of the magnetic field of the earth in the X, Y and Z directions of the sensor, using gravity reference sensors that provide an indication of the pitch and roll of the excavator, using a gyroscopic sensor for sensing rotation of the excavator about the Z axis of the magnetic field sensor, and using a processor circuit, having an associated memory, responsive to said magnetic field sensor, said inclinometers, and said gyroscopic sensor, comprising:

creating and storing a calibration table of data, including

noting the pitch and roll of the excavator,

rotating said excavator about a substantially vertical Z axis through less than a complete rotation,

storing the outputs from said magnetic field sensor, said inclinometers, and said gyroscopic sensor, and

separating the data received from said gyroscopic sensor during the less than complete rotation and the corresponding data received from the magnetic field sensor into substantially equal angular increments, and storing such scaled data,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

transforming the sensed indications of the magnetic field from the X, Y and Z coordinate reference frame of the sensor to the local level plane coordinate reference frame using the outputs from the inclinometers, and

comparing the corrected indications to the stored, scaled data to determine the heading of the excavator.

17. The method of claim 16, in which creating and storing a calibration table of data includes compensating the stored outputs for hard iron induced errors.

18. The method of claim 16, in which scaling the data received from said gyroscopic sensor during the less than complete rotation and the corresponding indications data received from the magnetic field sensor into substantially equal angular increments comprises separating the data received from said gyroscopic sensor during the less than complete rotation and the corresponding indications data received from the magnetic field sensor into equal increments.

19. The method of claim 16, in which determining the hard iron components of the transformed sensed indication of the magnetic field comprises

positioning the excavator to have a heading substantially toward magnetic north,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor,

sensing the pitch and roll of the excavator,

pitching the excavator by a few degrees,

sensing the magnetic field at the excavator with the magnetic field sensor, providing indications of the magnitude of the magnetic field in the X, Y and Z directions of the sensor, and

sensing the pitch and roll of the excavator.

20. The method of claim 16, in which creating and storing a calibration table of data further includes benching the excavator by rotating it to a predetermined reference heading, and determining the corresponding data from the table which represents the predetermined heading, whereby the balance of the data represents headings of the excavator in angular increments away from the predetermined reference heading.