公开(公告)号：US20160116289A1

公开(公告)日：2016-04-28

申请号：US14524727

申请日：2014-10-27

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Qi CHEN ,  Nicholas Robert VOGEL ,  Andrew Thomas WHITTEN

IPC: G01C21/16

CPC classification number: G01C21/165 ,  G01S5/0247 ,  G01S5/0263 ,  G01S19/39 ,  G01S19/48 ,  G01S19/49 ,  G01S19/53

Abstract: A system for determining the position of a mobile machine is disclosed. The system may include a first sensor configured to generate a first signal indicative of a pose of the mobile machine, a second sensor configured to generate a second signal indicative of a parameter of the mobile machine, and a controller in communication with the first and second sensors. The controller may be configured to generate a measured pose of the mobile machine based on the first signal, to generate an estimated pose of the mobile machine based on the second signal, and to determine uncertainty values associated with each of the measured and estimated poses. The controller may be further configured to determine overlap of the uncertainty values, to selectively adjust the measured pose based on the overlap, and to determine a pose solution based on the estimated pose and adjustment of the measured pose.

Abstract translation: 公开了一种用于确定移动机器的位置的系统。 该系统可以包括被配置为产生指示移动机器姿态的第一信号的第一传感器，被配置为产生指示移动机器的参数的第二信号的第二传感器，以及与第一和第二传感器通信的控制器 传感器。 控制器可以被配置为基于第一信号生成移动机器的测量姿态，以基于第二信号生成移动机器的估计姿势，并且确定与测量和估计姿势中的每一个相关联的不确定性值。 控制器还可以被配置为确定不确定性值的重叠，以基于重叠来选择性地调整所测量的姿态，并且基于所估计的姿势和所测量的姿态的调整来确定姿态解。

公开(公告)号：US20170030718A1

公开(公告)日：2017-02-02

申请号：US14809943

申请日：2015-07-27

Applicant: Caterpillar Inc.

Inventor： Nicholas Robert VOGEL

IPC: G01C21/16

CPC classification number: G01C21/165 ,  E02F9/261 ,  E02F9/264

Abstract: A positioning system for generating pose information of a machine includes a primary positioning controller and a plurality of local positioning controllers coupled to the primary positioning controller. The primary positioning controller is configured to generate primary pose information of the machine. The primary pose information reflects an overall pose of the machine. Each of the local positioning controllers is configured to generate local pose information based on at least the primary pose information. The local pose information reflects a local pose of a portion of the machine corresponding to the local positioning controller.

Abstract translation: 用于产生机器姿态信息的定位系统包括主定位控制器和耦合到主定位控制器的多个本地定位控制器。 主定位控制器被配置为生成机器的主要姿态信息。 主要姿势信息反映了机器的整体姿态。 每个本地定位控制器被配置为基于至少主要姿势信息来生成局部姿态信息。 局部姿势信息反映了与本地定位控制器对应的机器的一部分的局部姿态。