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公开(公告)号：US10775513B1
公开(公告)日：2020-09-15
申请号：US16088731
申请日：2018-04-18
发明人： Sergey Vladislavovich Averin , Mikhail Yurievich Vorobiev , Andrey Valerievich Plenkin , Danila Svyatoslavovich Milyutin
摘要： A high performance attitude determination system, including a global navigation satellite system (GNSS) receiver, the receiver including a first radio-frequency front-end (RF1) connected to a main antenna; a second radio-frequency front-end (RF2) connected to an auxiliary antenna; and a digital section connected to both RF1 and RF2. The digital section (i) generates a first set of GNSS raw measurements based on signals received from RF1; (ii) generates a second set of GNSS raw measurements based on signals received from RF2; (iii) computes a spatial attitude of a baseline between main and auxiliary antennas, using the first and the second sets of GNSS raw measurements, and based on carrier phase integer ambiguity resolution; (iv) continues updating the spatial attitude using the first and the second sets of GNSS raw measurements without carrier phase integer ambiguity resolution, and using fractional carrier phases. Optionally, RF1 and RF2 use a common clock.
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公开(公告)号：US11846091B2
公开(公告)日：2023-12-19
申请号：US16976480
申请日：2020-01-28
发明人： Mikhail Yurievich Vorobiev , Alexey Vladislavovich Zhdanov , Ivan Alexandrovich Bogdanyuk , Nikolay Nikolaevich Vasilyuk
IPC分类号： E02F9/26 , E02F3/76 , E02F9/02 , G01S19/52 , G01S19/47 , G06T7/70 , H04N13/254 , G06T7/20 , G06T7/50 , E02F3/80 , H04N13/00
CPC分类号： E02F9/264 , E02F3/7609 , E02F3/80 , E02F9/02 , E02F9/26 , G01S19/47 , G01S19/52 , G06T7/20 , G06T7/50 , G06T7/70 , H04N13/254 , G06T2207/10012 , G06T2207/10048 , G06T2207/30204 , G06T2207/30252 , H04N2013/0085
摘要： A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.
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3.发明授权公开(公告)号：US11609346B2
公开(公告)日：2023-03-21
申请号：US16092114
申请日：2018-05-29
发明人： Nikolay Nikolaevich Vasilyuk , Mikhail Yurievich Vorobiev , Dmitry Konstantinovich Tokarev , Alexandr Vladimirovich Doronin , Sergey Ivanovich Tychinskiy
摘要： Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.
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