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1. (WO2019027656) DETERMINING YAW AND CENTER-OF-ROTATION OF A ROTATING PLATFORM USING A SINGLE POSITION SENSOR
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Pub. No.: WO/2019/027656 International Application No.: PCT/US2018/041983
Publication Date: 07.02.2019 International Filing Date: 13.07.2018
IPC:
G05D 1/08 (2006.01) ,A01B 69/00 (2006.01) ,G01S 19/41 (2010.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
08
Control of attitude, i.e. control of roll, pitch, or yaw
A HUMAN NECESSITIES
01
AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
B
SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69
Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19
Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38
Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39
the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
40
Correcting position, velocity or attitude
41
Differential correction, e.g. DGPS [differential GPS]
Applicants:
CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC [US/US]; 5475 Kellenburger Road Dayton, Ohio 45424, US
Inventors:
ALAM, Nima; US
Agent:
CATMULL, Kelvin B.; US
Priority Data:
15/667,48802.08.2017US
Title (EN) DETERMINING YAW AND CENTER-OF-ROTATION OF A ROTATING PLATFORM USING A SINGLE POSITION SENSOR
(FR) DÉTERMINATION DE LACET ET DE CENTRE DE ROTATION D'UNE PLATE-FORME ROTATIVE À L'AIDE D'UN CAPTEUR DE POSITION UNIQUE
Abstract:
(EN) Yaw and center-of-rotation of a platform are determined using a single Global Navigation Satellite System (GNSS) device and an inertial measurement unit (IMU). A measurement center of the GNSS device is disposed on the platform away from the center-of-rotation and arranged in a known spatial relationship with the center-of- rotation. The platform is rotated about the center-of-rotation between a first orientation and a second orientation (602). The IMU is used to determine a change in pitch, roll, and yaw of the platform between the first orientation and the second orientation (604). The GNSS device is used to determine a change in position of the measurement center of the GNSS device between the first orientation and the second orientation (606). The yaw of the platform is determined at the second orientation and the position of the center-of-rotation of the platform is determined in a global coordinate frame (608).
(FR) Selon la présente invention, un lacet et un centre de rotation d'une plate-forme sont déterminés à l'aide d'un seul dispositif de système mondial de navigation par satellite (GNSS) et d'une unité de mesure inertielle (IMU). Un centre de mesure du dispositif GNSS est disposé sur la plate-forme à distance du centre de rotation et agencé dans une relation spatiale connue avec le centre de rotation. La plate-forme est mise en rotation autour du centre de rotation entre une première orientation et une seconde orientation (602). L'IMU est utilisée pour déterminer un changement de pas, de roulis et de lacet de la plate-forme entre la première orientation et la seconde orientation (604). Le dispositif GNSS est utilisé pour déterminer un changement de position du centre de mesure du dispositif GNSS entre la première orientation et la seconde orientation (606). Le lacet de la plate-forme est déterminé au niveau de la seconde orientation, et la position du centre de rotation de la plate-forme est déterminée dans une trame de coordonnées globales (608).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)