公开(公告)号：US10521703B2

公开(公告)日：2019-12-31

申请号：US15629099

申请日：2017-06-21

Applicant: CATERPILLAR INC.

Inventor： Matthew James Beschorner ,  Marilyn Worley ,  Justin Douglas Speichinger

IPC: G06K9/62 ,  G01C21/10 ,  G01C21/16 ,  G01P15/18

Abstract: Controlling machine pose using sensor fusion includes receiving from each of a plurality of Inertial Measurement Units mounted on different components, a time series of signals indicative of acceleration and angular rate of motion for each of the components of the machine, and from at least one non-IMU sensor, a signal indicative of at least one of position, velocity, or acceleration of at least one of the components, a position, velocity, or acceleration of any potential obstacles or other features, or an operator input. The signals are fused with a separate Kalman filter module to estimate an output joint angle. Estimated and measured values of the output joint angle in successive timesteps are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the component at successive timesteps, and the determined real time value is applied in an implementation of a controlled operational movement of the machine component in a successive time step.