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。