Estimation with gyros of the relative attitude between a vehicle body and an implement operably coupled to the vehicle body

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United States of America Patent

PATENT NO 9995019
SERIAL NO

15311081

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Abstract

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An estimate of the relative attitude between an implement and a vehicle body is computed from a body angular velocity measurement received from at least one body gyro mounted on the vehicle body and from an implement angular velocity measurement received from at least one implement gyro mounted on the implement. A first system state vector estimate corresponding to a first time instant includes a representation of a first relative attitude estimate. An updated system state vector is computed based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement. A second system state vector estimate corresponding to a second time instant is predicted based at least in part on the updated system state vector and a time-dependent system model. The second system state vector estimate includes a representation of a second relative attitude estimate.

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Patent Owner(s)

Patent OwnerAddress
TOPCON POSITIONING SYSTEMS INC7400 NATIONAL DRIVE LIVERMORE CA 94551

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Kosarev, Alexey Andreevich Moscow, RU 4 25

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