POSITIONING SYSTEM IMPLEMENTING MULTI-SENSOR POSE SOLUTION

摘要

A system for determining the position of a mobile machine is disclosed. The system may include a first sensor configured to generate a first signal indicative of a pose of the mobile machine, a second sensor configured to generate a second signal indicative of a parameter of the mobile machine, and a controller in communication with the first and second sensors. The controller may be configured to generate a measured pose of the mobile machine based on the first signal, to generate an estimated pose of the mobile machine based on the second signal, and to determine uncertainty values associated with each of the measured and estimated poses. The controller may be further configured to determine overlap of the uncertainty values, to selectively adjust the measured pose based on the overlap, and to determine a pose solution based on the estimated pose and adjustment of the measured pose.

主权项

1. A positioning system for use with a mobile machine, comprising:
a first sensor configured to generate a first signal indicative of a pose of the mobile machine; a second sensor configured to generate a second signal indicative of a parameter of the mobile machine; and a controller in communication with the first and second sensors, the controller configured to:
generate a measured pose of the mobile machine based on the first signal;generate an estimated pose of the mobile machine based on the second signal;determine uncertainty values associated with each of the measured and estimated poses;determine an overlap of the uncertainty values;selectively adjust the measured pose based on the overlap; anddetermine a pose solution based on the estimated pose and adjustment of the measured pose.