Terrain-based machine comprising implement state estimator
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United States of America Patent
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Feb 28, 2017
Grant Date -
Jun 2, 2016
app pub date -
Nov 16, 2015
filing date -
Aug 19, 2014
priority date (Note) -
In Force
status (Latency Note)
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Abstract
Terrain-based machines are provided comprising a translational chassis movement indicator, a terrain-based implement, an implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the terrain-based implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the terrain-based implement is rotating in one or more degrees of rotational freedom. The implement state estimator generates an implement state estimate that is based at least partially on (i) implement position signals from an implement angular rate sensor and an implement accelerometer, and (ii) signals from the translational chassis movement indicator and the implement inclinometer.
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