Estimation of the relative attitude and position between a vehicle body and an implement operably coupled to the vehicle body

• US 9,347,205 B2
• Filed: 02/10/2012
• Issued: 05/24/2016
• Est. Priority Date: 02/10/2012
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Inventors: Kosarev, Alexey Andreevich, Zhdanov, Alexey Vladislavovich
• Primary Examiner(s): MELTON, TODD M
• Application Number:
  US14/125,361
• Publication Number:
  US 20140207331A1
• Time in Patent Office: 1,565 Days
• US Class Current: 1/1
• CPC Class Codes: E02F 3/845 using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.

Claims

1. A method for estimating an attitude in a plurality of attitudes of an implement operably coupled to a vehicle body, the implement having an implement acceleration and the vehicle body having a body acceleration, wherein each attitude in the plurality of attitudes corresponds to a time instant in a plurality of time instants, the method comprising the steps of:

receiving a body acceleration measurement from a body accelerometer mounted on the vehicle body;

receiving an implement acceleration measurement from an implement accelerometer mounted on the implement;

calculating a first state vector estimate corresponding to a first time instant in the plurality of time instants, wherein;

the first state vector estimate is based at least in part on the body acceleration measurement and the implement acceleration measurement, and is calculated by calculating a measurement vector based at least in part on the body acceleration measurement and the implement acceleration measurement and performing an extended Kalman filter procedure on the measurement vector; and

the first state vector estimate comprises a representation of a first attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

2. The method of claim 1, further comprising the step of:

calculating an estimate of a position of the implement relative to the vehicle body based at least in part on the representation of the first attitude of the implement relative to the vehicle body.

3. The method of claim 1, further comprising the step of:

predicting a second state vector estimate corresponding to a second time instant in the plurality of time instants, wherein;

the second state vector estimate is based at least in part on the first state vector estimate and a time-dependent system model; and

the second state vector estimate comprises a representation of a second attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

4. The method of claim 1, further comprising the steps of:

receiving a body angular velocity measurement from a body gyro mounted on the vehicle body; and

receiving an implement angular velocity measurement from an implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the body angular velocity measurement and the implement angular velocity measurement.

5. The method of claim 4, further comprising the steps of:

calculating a measurement vector based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

6. The method of claim 1, wherein the body acceleration measurement is a first body acceleration measurement, the body accelerometer is a first body accelerometer, the implement acceleration measurement is a first implement acceleration measurement, and the implement accelerometer is a first implement accelerometer, further comprising the steps of:

receiving a second body acceleration measurement from a second body accelerometer mounted on the vehicle body; and

receiving a second implement acceleration measurement from a second implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the second body acceleration measurement and the second implement acceleration measurement.

7. The method of claim 6, further comprising the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, and the second implement acceleration measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

8. The method of claim 6, further comprising the steps of:

receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement; and

receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement.

9. The method of claim 8, further comprising the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

10. The method of claim 6, further comprising the steps of:

receiving a third body acceleration measurement from a third body accelerometer mounted on the vehicle body; and

receiving a third implement acceleration measurement from a third implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the third body acceleration measurement and the third implement acceleration measurement.

11. The method of claim 10, further comprising the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, and the third implement acceleration measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

12. The method of claim 10, further comprising the steps of:

receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

receiving a third body angular velocity measurement from a third body gyro mounted on the vehicle body;

receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement;

receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement; and

receiving a third implement angular velocity measurement from a third implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement.

13. The method of claim 12, further comprising the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the third implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

14. An apparatus for estimating an attitude in a plurality of attitudes of an implement operably coupled to a vehicle body, the implement having an implement acceleration and the vehicle body having a body acceleration, wherein each attitude in the plurality of attitudes corresponds to a time instant in a plurality of time instants, the apparatus comprising:

means for receiving a body acceleration measurement from a body accelerometer mounted on the vehicle body;

means for receiving an implement acceleration measurement from an implement accelerometer mounted on the implement;

means for calculating a first state vector estimate corresponding to a first time instant in the plurality of time instants, wherein;

the first state vector estimate is based at least in part on the body acceleration measurement and the implement acceleration measurement, and is calculated by calculating a measurement vector based at least in part on the body acceleration measurement and the implement acceleration measurement and performing an extended Kalman filter procedure on the measurement vector; and

the first state vector estimate comprises a representation of a first attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

15. The apparatus of claim 14, further comprising:

means for calculating an estimate of a position of the implement relative to the vehicle body based at least in part on the representation of the first attitude of the implement relative to the vehicle body.

16. The apparatus of claim 14, further comprising:

means for predicting a second state vector estimate corresponding to a second time instant in the plurality of time instants, wherein;

the second state vector estimate is based at least in part on the first state vector estimate and a time-dependent system model; and

the second state vector estimate comprises a representation of a second attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

17. The apparatus of claim 14, further comprising:

means for receiving a body angular velocity measurement from a body gyro mounted on the vehicle body; and

means for receiving an implement angular velocity measurement from an implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the body angular velocity measurement and the implement angular velocity measurement.

18. The apparatus of claim 17, further comprising:

means for calculating a measurement vector based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement; and

means for calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

19. The apparatus of claim 14, wherein the body acceleration measurement is a first body acceleration measurement, the body accelerometer is a first body accelerometer, the implement acceleration measurement is a first implement acceleration measurement, and the implement accelerometer is a first implement accelerometer, further comprising:

means for receiving a second body acceleration measurement from a second body accelerometer mounted on the vehicle body; and

means for receiving a second implement acceleration measurement from a second implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the second body acceleration measurement and the second implement acceleration measurement.

20. The apparatus of claim 19, further comprising:

means for calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, and the second implement acceleration measurement; and

means for calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

21. The apparatus of claim 19, further comprising:

means for receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

means for receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

means for receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement; and

means for receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement.

22. The apparatus of claim 21, further comprising:

means for calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement; and

means for calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

23. The apparatus of claim 19, further comprising:

means for receiving a third body acceleration measurement from a third body accelerometer mounted on the vehicle body; and

means for receiving a third implement acceleration measurement from a third implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the third body acceleration measurement and the third implement acceleration measurement.

24. The apparatus of claim 23, further comprising:

means for calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, and the third implement acceleration measurement; and

means for calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

25. The apparatus of claim 23, further comprising:

means for receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

means for receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

means for receiving a third body angular velocity measurement from a third body gyro mounted on the vehicle body;

means for receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement;

means for receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement; and

means for receiving a third implement angular velocity measurement from a third implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement.

26. The apparatus of claim 25, further comprising:

means for calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the third implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement; and

means for calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

27. A computer readable medium storing computer program instructions for estimating an attitude in a plurality of attitudes of an implement operably coupled to a vehicle body, the implement having an implement acceleration and the vehicle body having a body acceleration, wherein each attitude in the plurality of attitudes corresponds to a time instant in a plurality of time instants, the computer program instructions defining the steps of:

receiving a body acceleration measurement from a body accelerometer mounted on the vehicle body;

receiving an implement acceleration measurement from an implement accelerometer mounted on the implement;

calculating a first state vector estimate corresponding to a first time instant in the plurality of time instants, wherein;

the first state vector estimate is based at least in part on the body acceleration measurement and the implement acceleration measurement, and is calculated by calculating a measurement vector based at least in part on the body acceleration measurement and the implement acceleration measurement and performing an extended Kalman filter procedure on the measurement vector; and

the first state vector estimate comprises a representation of a first attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

28. The computer readable medium of claim 27, wherein the computer program instructions further comprise computer program instructions defining the step of:

calculating an estimate of a position of the implement relative to the vehicle body based at least in part on the representation of the first attitude of the implement relative to the vehicle body.

29. The computer readable medium of claim 27, wherein the computer program instructions further comprise computer program instructions defining the step of:

predicting a second state vector estimate corresponding to a second time instant in the plurality of time instants, wherein;

the second state vector estimate is based at least in part on the first state vector estimate and a time-dependent system model; and

the second state vector estimate comprises a representation of a second attitude of the implement relative to the vehicle body, the representation being a rotation quaternion q given by;

q=[q₀,q₁,q₂,q₃],(q₀²+q₁²+q₂²+q₃²=1).

30. The computer readable medium of claim 27, wherein the computer program instructions further comprise computer program instructions defining the steps of:

receiving a body angular velocity measurement from a body gyro mounted on the vehicle body; and

receiving an implement angular velocity measurement from an implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the body angular velocity measurement and the implement angular velocity measurement.

31. The computer readable medium of claim 30, wherein the computer program instructions further comprise computer program instructions defining the steps of:

calculating a measurement vector based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

32. The computer readable medium of claim 27, wherein the body acceleration measurement is a first body acceleration measurement, the body accelerometer is a first body accelerometer, the implement acceleration measurement is a first implement acceleration measurement, and the implement accelerometer is a first implement accelerometer, and wherein the computer program instructions further comprise computer program instructions defining the steps of:

receiving a second body acceleration measurement from a second body accelerometer mounted on the vehicle body; and

receiving a second implement acceleration measurement from a second implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the second body acceleration measurement and the second implement acceleration measurement.

33. The computer readable medium of claim 32, wherein the computer program instructions further comprise computer program instructions defining the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, and the second implement acceleration measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

34. The computer readable medium of claim 32, wherein the computer program instructions further comprise computer program instructions defining the steps of:

receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement; and

receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement.

35. The computer readable medium of claim 34, wherein the computer program instructions further comprise computer program instructions defining the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the first implement angular velocity measurement, and the second implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

36. The computer readable medium of claim 32, wherein the computer program instructions further comprise computer program instructions defining the steps of:

receiving a third body acceleration measurement from a third body accelerometer mounted on the vehicle body; and

receiving a third implement acceleration measurement from a third implement accelerometer mounted on the implement;

wherein the first state vector estimate is further based at least in part on the third body acceleration measurement and the third implement acceleration measurement.

37. The computer readable medium of claim 36, further wherein the computer program instructions further comprise computer program instructions defining the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, and the third implement acceleration measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.

38. The computer readable medium of claim 36, wherein the computer program instructions further comprise computer program instructions defining the steps of:

receiving a first body angular velocity measurement from a first body gyro mounted on the vehicle body;

receiving a second body angular velocity measurement from a second body gyro mounted on the vehicle body;

receiving a third body angular velocity measurement from a third body gyro mounted on the vehicle body;

receiving a first implement angular velocity measurement from a first implement gyro mounted on the implement;

receiving a second implement angular velocity measurement from a second implement gyro mounted on the implement; and

receiving a third implement angular velocity measurement from a third implement gyro mounted on the implement;

wherein the first state vector estimate is further based at least in part on the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement.

39. The computer readable medium of claim 38, wherein the computer program instructions further comprise computer program instructions defining the steps of:

calculating a measurement vector based at least in part on the first body acceleration measurement, the second body acceleration measurement, the third body acceleration measurement, the first implement acceleration measurement, the second implement acceleration measurement, the third implement acceleration measurement, the first body angular velocity measurement, the second body angular velocity measurement, the third body angular velocity measurement, the first implement angular velocity measurement, the second implement angular velocity measurement, and the third implement angular velocity measurement; and

calculating the first state vector estimate by performing an extended Kalman filter procedure on the measurement vector.