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公开(公告)号：US09816820B2
公开(公告)日：2017-11-14
申请号：US14990760
申请日：2016-01-07
Applicant: CATERPILLAR INC.
Inventor： Frank Arthur Willis
IPC: G01C21/16 , G01C21/26 , G01S19/39 , G01M17/00 , G01C21/00 , G06F7/00 , G01C21/10 , G08C21/00 , G01C25/00 , G06F11/30
CPC classification number: G01C21/165 , G01C21/00 , G01C21/10 , G01C21/16 , G01C21/26 , G01C25/00 , G01C25/005 , G01M17/00 , G01S19/39 , G01S19/49 , G06F7/00 , G06F11/30 , G08C21/00
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US09128183B2
公开(公告)日：2015-09-08
申请号：US13688534
申请日：2012-11-29
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Frank Arthur Willis
Abstract: A machine navigation system and method for estimating velocity of a machine is disclosed. The method may include receiving, from an odometer, a first signal indicative of a distance traveled by the machine and calculating a scale factor to compensate for an error associated with the first signal. The method may further include determining whether a second signal indicative of a location of the machine is received by the machine and selectively adjusting the scale factor using machine parameters to generate an adjusted scale factor, where selectively adjusting may be performed based on whether the second signal is received by the machine. The method may further include estimating the velocity of the machine based on the first signal and the adjusted scale factor.
Abstract translation: 公开了一种用于估计机器速度的机器导航系统和方法。 该方法可以包括从里程表接收指示机器行进的距离的第一信号，并且计算比例因子以补偿与第一信号相关联的误差。 该方法还可以包括确定机器是否接收到指示机器的位置的第二信号，并且使用机器参数选择性地调整比例因子以产生调整的比例因子，其中可以基于第二信号 被机器接收。 该方法还可以包括基于第一信号和经调整的比例因子估计机器的速度。
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公开(公告)号：US20170199040A1
公开(公告)日：2017-07-13
申请号：US14990760
申请日：2016-01-07
Applicant: CATERPILLAR INC.
Inventor： Frank Arthur Willis
CPC classification number: G01C21/165 , G01C21/00 , G01C21/10 , G01C21/16 , G01C21/26 , G01C25/00 , G01C25/005 , G01M17/00 , G01S19/39 , G01S19/49 , G06F7/00 , G06F11/30 , G08C21/00
Abstract: 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.
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公开(公告)号：US09250086B1
公开(公告)日：2016-02-02
申请号：US14466929
申请日：2014-08-22
Applicant: CATERPILLAR INC.
Inventor： Paul Russell Friend , Frank Arthur Willis , Troy Kenneth Becicka
Abstract: A method and system for determining an alignment error between sensors mounted to a machine is disclosed. The method may include calculating a first orientation value based on a signal received from a first sensor. The method may further include calculating a second orientation value based on a signal received from a second sensor. The method may further include calculating an alignment error between the first sensor and the second sensor based on a difference between the first orientation value and the second orientation value.
Abstract translation: 公开了一种用于确定安装到机器的传感器之间的对准误差的方法和系统。 该方法可以包括基于从第一传感器接收的信号来计算第一取向值。 该方法还可以包括基于从第二传感器接收的信号来计算第二取向值。 该方法还可以包括基于第一取向值和第二取向值之间的差来计算第一传感器和第二传感器之间的对准误差。
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公开(公告)号：US09234758B2
公开(公告)日：2016-01-12
申请号：US13721958
申请日：2012-12-20
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Qi Chen , Frank Arthur Willis
CPC classification number: G01C21/165 , E02F9/264 , G01B11/00 , G01S17/023 , G01S17/89
Abstract: A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.
Abstract translation: 公开了一种用于估计机器位置的系统和方法。 该方法可以包括从感知传感器接收描述机器附近的环境的场景数据，并基于场景数据估计机器的第一位置。 该方法可以包括确定机器是否接收到指示机器的位置的第一信号，并且当确定接收到第一信号时，估计机器的第二位置。 该方法可以包括将第二位置与第一位置进行比较，并且使用第一位置和第二位置中的至少一个来估计机器的第三位置。
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公开(公告)号：US20140145876A1
公开(公告)日：2014-05-29
申请号：US13688534
申请日：2012-11-29
Applicant: CATERPILLAR INC.
Inventor： Paul Russell FRIEND , Frank Arthur Willis
IPC: G01S19/52
Abstract: A machine navigation system and method for estimating velocity of a machine is disclosed. The method may include receiving, from an odometer, a first signal indicative of a distance traveled by the machine and calculating a scale factor to compensate for an error associated with the first signal. The method may further include determining whether a second signal indicative of a location of the machine is received by the machine and selectively adjusting the scale factor using machine parameters to generate an adjusted scale factor, where selectively adjusting may be performed based on whether the second signal is received by the machine. The method may further include estimating the velocity of the machine based on the first signal and the adjusted scale factor.
Abstract translation: 公开了一种用于估计机器速度的机器导航系统和方法。 该方法可以包括从里程表接收指示机器行进的距离的第一信号，并且计算比例因子以补偿与第一信号相关联的误差。 该方法还可以包括确定机器是否接收到指示机器的位置的第二信号，并且使用机器参数选择性地调整比例因子以产生调整的比例因子，其中可以基于第二信号 被机器接收。 该方法还可以包括基于第一信号和经调整的比例因子估计机器的速度。
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