- 专利标题: Positioning system having smoothed kalman filter update
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申请号: US14990760申请日: 2016-01-07
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公开(公告)号: US09816820B2公开(公告)日: 2017-11-14
- 发明人: Frank Arthur Willis
- 申请人: CATERPILLAR INC.
- 申请人地址: US IL Peoria
- 专利权人: Caterpillar Inc.
- 当前专利权人: Caterpillar Inc.
- 当前专利权人地址: US IL Peoria
- 代理机构: Finnegan, Henderson, Farabow, Garrett & Dunner LLP
- 主分类号: G01C21/16
- IPC分类号: G01C21/16 ; G01C21/26 ; G01S19/39 ; G01M17/00 ; G01C21/00 ; G06F7/00 ; G01C21/10 ; G08C21/00 ; G01C25/00 ; G06F11/30
摘要:
A method and a system of determining a position of a mobile machine are disclosed. According to certain embodiments, the system may include a first sensor configured to generate a first signal indicative of a parameter of the mobile machine. The system may also include a second sensor configured to generate a second signal indicative of a pose of the mobile machine. The system may further include a controller in communication with the first and second sensors. The controller may be configured to generate one or more estimated poses of the mobile machine based on the first signal. The controller may further be configured to update each estimated pose with a fraction of a correction. The correction may be determined, based on the second signal, in a measurement update stage of a Kalman filter.
公开/授权文献
- US20170199040A1 POSITIONING SYSTEM HAVING SMOOTHED KALMAN FILTER UPDATE 公开/授权日:2017-07-13
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