Inclination angle compensation systems and methods

摘要

An inclination angle compensation system for determining an inclination angle of a machine is disclosed. The inclination angle compensation system may have a non-gravitational acceleration estimator configured to estimate a non-gravitational acceleration of a machine based on an estimated inclination angle and an acceleration output from a forward acceleration sensor. The inclination angle compensation system may also have an inclination angle sensor corrector configured to receive an inclination angle output from an inclination angle sensor, determine an inclination angle sensor acceleration based on the inclination angle output, and calculate a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration.

主权项

1. A computer-implemented method of determining an inclination of a machine comprising:
receiving a measured inclination angular rate of a machine measured by an inclination angular rate sensor; estimating an estimated inclination angle of the machine by integrating the measured inclination angular rate; estimating a non-gravitational acceleration of the machine based on the estimated inclination angle and an acceleration output from a forward acceleration sensor; receiving a measured inclination angle measured by an inclination angle sensor; determining an inclination angle sensor acceleration based on the measured inclination angle; calculating a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration; and determining an a posteriori estimated inclination angle of the machine based on the corrected inclination angle, wherein the corrected inclination angle of the machine is calculated as:θ^=sin-1⁡(Ai-Anon-gg), where Ai is an inclination angle sensor acceleration calculated based on the inclination angle output, Anon-g is the non-gravitational acceleration and g is a conventional acceleration due to gravity.