Estimation of the relative attitude and position between a vehicle body and an implement operably coupled to the vehicle body
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United States of America Patent
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May 24, 2016
Grant Date -
Jul 24, 2014
app pub date -
Feb 10, 2012
filing date -
Feb 10, 2012
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Abstract
An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.
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