Estimation with Gyros of the Relative Attitude between a Vehicle Body and an Implement Operably Coupled to the Vehicle Body

摘要

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.

主权项

1. A method for estimating a relative attitude between an implement and a vehicle body, wherein the implement is operably coupled to the vehicle body, the method comprising the steps of:
receiving a first system state vector estimate, wherein the first system state vector estimate:
corresponds to a first time instant in a plurality of time instants; andcomprises a representation of a first relative attitude estimate corresponding to the first time instant; receiving a body angular velocity measurement from at least one body gyro mounted on the vehicle body; receiving an implement angular velocity measurement from at least one implement gyro mounted on the implement; computing an updated system state vector 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; and predicting a second system state vector estimate, wherein the second system state vector estimate:
is based at least in part on the updated system state vector and a time-dependent system model;corresponds to a second time instant in the plurality of time instants; andcomprises a representation of a second relative attitude estimate corresponding to the second time instant.