公开(公告)号：US09134124B2

公开(公告)日：2015-09-15

申请号：US14177565

申请日：2014-02-11

Applicant: Caterpillar Inc.

Inventor： Qi Chen ,  Andrew Whitten ,  Paul R. Friend

IPC: G01M17/00 ,  G01B21/16 ,  G01C21/16

CPC classification number: G01B21/16 ,  G01C21/16 ,  G01C21/165

Abstract: A system is provided. The system includes a perception sensor, a first inertial measurement unit and a first localization module. The first localization module is configured to generate a first position estimate signal indicative of an estimated position of the machine. The system includes a second inertial measurement unit and a second localization module. The second localization module is configured to generate a second position estimate signal indicative of the estimated position of the machine. A position determination module is communicably coupled to the first and second localization modules. The position determination module is configured to determine a health of the first and second localization modules based on one or more parameters indicative of errors associated with the first and second inertial measurement units respectively; and determine an estimated position of the machine based on the determined health of the first and second localization modules.

Abstract translation: 提供了一个系统。 该系统包括感知传感器，第一惯性测量单元和第一定位模块。 第一定位模块被配置为产生指示机器的估计位置的第一位置估计信号。 该系统包括第二惯性测量单元和第二定位模块。 第二定位模块被配置为产生指示机器的估计位置的第二位置估计信号。 位置确定模块可通信地耦合到第一和第二定位模块。 位置确定模块被配置为基于分别指示与第一和第二惯性测量单元相关联的误差的一个或多个参数来确定第一和第二定位模块的健康状况; 并且基于所确定的第一和第二定位模块的健康来确定机器的估计位置。

公开(公告)号：US09064352B2

公开(公告)日：2015-06-23

申请号：US13869063

申请日：2013-04-24

Applicant: Caterpillar Inc.

Inventor： Bibhrajit Halder ,  Andrew Whitten ,  Joshua Struble

IPC: G01C21/12 ,  G07C3/00 ,  G01S19/47

CPC classification number: G07C3/00 ,  G01C21/165 ,  G01S19/47 ,  G01S19/49 ,  G07C5/008

Abstract: A position identification system for use with a mobile machine at a worksite is disclosed. The system may include an integration module configured to integrate information from at least one motion sensor and at least one GPS receiver to generate a location signal indicative of an actual location of the mobile machine. A controller may be provided in communication with the at least one motion sensor, the at least one GPS receiver, and the integration module, the controller being configured to determine the reliability of information received from the at least one motion sensor, the at least one GPS receiver, and the integration module, and following a period of time from when received information is first determined to be unreliable, switching from determining the position of the mobile machine using information determined to be unreliable to determining the position of the mobile machine using dead reckoning from a last known good position of the mobile machine, a determined wheel speed of the mobile machine, and a steering command being provided to the mobile machine.

Abstract translation: 公开了一种在工地上与移动机一起使用的位置识别系统。 该系统可以包括集成模块，其被配置为集成来自至少一个运动传感器的信息和至少一个GPS接收器，以生成指示移动机器的实际位置的位置信号。 可以提供与所述至少一个运动传感器，所述至少一个GPS接收器和所述集成模块通信的控制器，所述控制器被配置为确定从所述至少一个运动传感器接收的信息的可靠性，所述至少一个 GPS接收机和集成模块，并且在从接收到的信息首先被确定为不可靠的时间段之后，从确定不可靠的信息确定移动机器的位置切换到确定移动机器使用死点的位置 从移动机器的最后已知的良好位置计算出移动机器的确定的车轮速度，以及向移动机器提供的转向命令。

公开(公告)号：US09529092B2

公开(公告)日：2016-12-27

申请号：US13925895

申请日：2013-06-25

Applicant: Caterpillar Inc.

Inventor： Paul R. Friend ,  Michael Taylor ,  Steven R. Krause ,  Andrew Whitten

IPC: G01S19/13 ,  G01S19/49 ,  G01S19/14

CPC classification number: G01S19/49 ,  G01S19/14

Abstract: A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.

Abstract translation: 用于检测和减轻定位系统中的误差的方法包括从指示机器的第二位置的来自指示第一位置的全球导航卫星系统（GNSS）接收第一信号和来自GNSS的第二信号，确定机器的第二位置之间的差 第一位置和第二位置，当第一位置和第二位置之间的差超过了（a）给定最大速度的最大距离之一的阈值时，检测机器的当前位置的误差，以及（b） 基于机器上的惯性传感器的输出确定的实际距离，并且通过从定位系统的输出切换到基于惯性传感器的输出确定的位置输出来减轻机器的当前位置的检测到的误差， 更新当前位置。

公开(公告)号：US20150226550A1

公开(公告)日：2015-08-13

申请号：US14177565

申请日：2014-02-11

Applicant: Caterpillar Inc.

Inventor： Qi Chen ,  Andrew Whitten ,  Paul R. Friend

IPC: G01B21/16 ,  G01C21/16

CPC classification number: G01B21/16 ,  G01C21/16 ,  G01C21/165

Abstract: A system is provided. The system includes a perception sensor, a first inertial measurement unit and a first localization module. The first localization module is configured to generate a first position estimate signal indicative of an estimated position of the machine. The system includes a second inertial measurement unit and a second localization module. The second localization module is configured to generate a second position estimate signal indicative of the estimated position of the machine. A position determination module is communicably coupled to the first and second localization modules. The position determination module is configured to determine a health of the first and second localization modules based on one or more parameters indicative of errors associated with the first and second inertial measurement units respectively; and determine an estimated position of the machine based on the determined health of the first and second localization modules.

Abstract translation: 提供了一个系统。 该系统包括感知传感器，第一惯性测量单元和第一定位模块。 第一定位模块被配置为产生指示机器的估计位置的第一位置估计信号。 该系统包括第二惯性测量单元和第二定位模块。 第二定位模块被配置为产生指示机器的估计位置的第二位置估计信号。 位置确定模块可通信地耦合到第一和第二定位模块。 位置确定模块被配置为基于分别指示与第一和第二惯性测量单元相关联的误差的一个或多个参数来确定第一和第二定位模块的健康状况; 并且基于所确定的第一和第二定位模块的健康来确定机器的估计位置。

公开(公告)号：US20140375497A1

公开(公告)日：2014-12-25

申请号：US13925895

申请日：2013-06-25

Applicant: Caterpillar Inc.

Inventor： Paul R. Friend ,  Michael Taylor ,  Steven R. Krause ,  Andrew Whitten

IPC: G01S19/13

CPC classification number: G01S19/49 ,  G01S19/14

Abstract: A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.

Abstract translation: 用于检测和减轻定位系统中的误差的方法包括从指示机器的第二位置的来自指示第一位置的全球导航卫星系统（GNSS）接收第一信号和来自GNSS的第二信号，确定机器的第二位置之间的差 第一位置和第二位置，当第一位置和第二位置之间的差超过了（a）给定最大速度的最大距离之一的阈值时，检测机器的当前位置的误差，以及（b） 基于机器上的惯性传感器的输出确定的实际距离，并且通过从定位系统的输出切换到基于惯性传感器的输出确定的位置输出来减轻机器的当前位置的检测到的误差， 更新当前位置。