Systems and methods for augmenting an inertial navigation system

Patent metadata

Field	Value
Publication number	US-9746329-B2
Application number	US-59414206-A
Country	US
Kind code	B2
Filing date	Nov 8, 2006
Priority date	Nov 8, 2006
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.

First claim

What is claimed is:

1. A system for automatically adjusting an adjustable earth-moving implement with respect to an earth-moving machine upon which the adjustable earth-moving implement is carried, comprising:
an inertial navigation system, wherein
the inertial navigation system is coupled to the adjustable earth-moving implement,
the inertial navigation system is configured to output first position information, and
the first position information is representative of a first position of the adjustable earth-moving implement from a plurality of possible three-dimensional implement positions with respect to a surface of a worksite;

a processor configured to compare the first position information with a desired position of the adjustable earth-moving implement and generate a comparison signal in response thereto;
a controller configured to adjust the adjustable earth-moving implement with respect to the machine upon which the adjustable earth-moving implement is carried based upon the comparison signal to adjust the earth-moving implement from the first position to the desired position; and
a plurality of supplemental position measuring devices coupled to the adjustable earth-moving implement and communicatively coupled to the inertial navigation system, at least one supplemental position measuring device configured to output second position information representative of a supplemental first position of the adjustable earth-moving implement to the inertial navigation system, wherein
the inertial navigation system periodically re-sets the first position information based upon a gross error estimate to re-calibrate the first position information and correct drift associated with one or more sensor readings from the inertial navigation system,
the gross error estimate is generated at least partially based on an error estimate,
the error estimate is generated as a function of the first position information and the second position information, and
the gross error estimate is determined in response to the error estimate exceeding an unacceptable error threshold.

2. The system of claim 1 , wherein at least one measuring device is selected from the group consisting of a planar laser, a fan laser, an automatic total station, a ground based radio ranging system, and a global navigation satellite system (GNSS).

3. The system of claim 2 , wherein the second position information includes a horizontal position.

4. The system of claim 2 , wherein the second position information includes a vertical position indicative of an elevation of the adjustable earth-moving implement with respect to the surface of the worksite.

5. The system of claim 1 , wherein a position processing element is configured to calculate a horizontal position of the adjustable earth-moving implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

6. The system of claim 1 , wherein a position processing element is configured to calculate a vertical position of the adjustable earth-moving implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

7. The system of claim 1 , wherein the processor is configured to store the desired position and wherein the comparator is further configured to access the memory element.

8. The system of claim 1 , further including a hydraulic mechanism, wherein the valve controller is configured to supply a control signal to the hydraulic mechanisms, the hydraulic mechanisms being actuated in response to the control signal.

9. The system of claim 1 , wherein the inertial navigation system comprises one or more sensors configured to receive a signal used to calculate the first position information.

10. The system of claim 1 , further including a receiver configured to receive a signal indicating a position of the machine from a global navigation satellite system.

11. The system of claim 1 , wherein a kalman filter is configured to determine the error estimate.

12. A method for automatically adjusting an adjustable earth-moving implement for an earthmoving machine with respect to the earthmoving machine upon which it is carried, the method comprising:
receiving a first signal from an inertial navigation system representing first position information of the adjustable earth-moving implement, the inertial navigation system coupled to a plurality of positioning devices;
calculating a position based upon the first signal;
comparing the position to a desired position;
transmitting a second signal representing a result of the comparison;
adjusting the adjustable earth-moving implement with respect to the earthmoving machine upon which it is carried based upon the second signal; and
at least one of shutting down the earthmoving machine upon a gross error estimate, alerting an operator of the gross error estimate, and setting the first position information of the inertial navigation system to second position information output from one or more of the positioning devices based upon the gross error estimate, wherein
the gross error estimate is generated at least partially based on an error estimate,
the error estimate is generated as a function of the first position information and the second position information, and
the gross error estimate is determined in response to the error estimate exceeding an unacceptable error threshold.

13. The method of claim 12 , wherein setting includes periodically updating the first position information with the second position information based upon the gross error estimate, wherein the one or more positioning devices is selected from the group consisting of a planar laser, a fan laser, an automatic total station, a ground based radio ranging system, and a global navigation satellite system (GNSS).

14. The method of claim 13 , wherein the first position information further includes a horizontal position based upon a position relative to a surface of a worksite.

15. The method of claim 13 , wherein the first position information further includes a vertical position based upon a position relative to a surface of a worksite.

16. The method of claim 13 , further including calculating a horizontal position of the adjustable earth-moving implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

17. The method of claim 13 , further including calculating a vertical position of the adjustable earth-moving implement relative to a surface of a worksite based on information received by a global navigation satellite system (GNSS).

18. The method of claim 13 , further including retrieving the desired position from a control processor.

19. The method of claim 13 , wherein adjusting the adjustable earth-moving implement includes sending a control signal to one or more hydraulic mechanisms coupled to the adjustable earth-moving implement.

20. The method of claim 13 , wherein receiving includes receiving the first signal associated with the first position information with a sensor.

21. The method of claim 13 , further including receiving a signal indicating a position, in relation to a surface of a worksite, from a GNSS system that is separate from the inertial navigation system.

Assignees

• Nichols Mark Edward
• Gudat Adam John
• Piekutowski Richard
• Caterpillar Trimble Control Tech Llc

Inventors

• Nichols Mark Edward
• Gudat Adam John
• Piekutowski Richard

Classifications

• E02F3/842

  using electromagnetic, optical or photoelectric beams, e.g. laser beams · CPC title

• E02F3/847

  using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01C21/1652 Primary

  with ranging devices, e.g. LIDAR or RADAR · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title