SYSTEM AND METHOD FOR DETERMINING GROUND SPEED OF MACHINE

摘要

A method for determining ground speed of a machine includes receiving an inertial navigation data at a first time and calculating a lateral acceleration of the machine at the first time using a first Kalman filter. A time delayed measurement of the ground speed information is received at a second time, wherein the time delayed measurement is delayed by predetermined time interval with respect to the measurement of the inertial navigation data. A ground speed of the machine is calculated at second time based on the time delayed measurement of the ground speed information and the inertial navigation data using a second Kalman filter, wherein the inertial navigation data is provided at the second time. Thereafter the ground speed is then determined based on a change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.

主权项

1. A method for determining a ground speed of a machine, the method comprising:
receiving an inertial navigation data associated with the machine at a first time; calculating a lateral acceleration of the machine at the first time based on the received inertial navigation data using a first Kalman filter; receiving a time delayed measurement of the ground speed information from the positioning system associated with the machine at a second time, wherein the time delayed measurement of the ground speed information is delayed by a predetermined time interval with respect to the measurement of the inertial navigation data; calculating a ground speed associated with the machine at the second time based on the time delayed measurement of the ground speed information associated with the machine and the inertial navigation data using a second Kalman filter, wherein the inertial navigation data is provided at the second time; determining a change in ground speed of the machine over the predetermined time interval based on the calculated lateral acceleration of the machine; and determining the ground speed of the machine at the first time based on the change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.