ESTIMATION OF THE RELATIVE ATTITUDE AND POSITION BETWEEN A VEHICLE BODY AND AN IMPLEMENT OPERABLY COUPLED TO THE VEHICLE BODY

摘要

An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.

主权项

1. A method for estimating an attitude in a plurality of attitudes of an implement operably coupled to a vehicle body, the implement having an implement acceleration and the vehicle body having a body acceleration, wherein each attitude in the plurality of attitudes corresponds to a time instant in a plurality of time instants, the method comprising the steps of:
receiving a body acceleration measurement from a body accelerometer mounted on the vehicle body; receiving an implement acceleration measurement from an implement accelerometer mounted on the implement; calculating a first state vector estimate corresponding to a first time instant in the plurality of time instants, wherein:
the first state vector estimate is based at least in part on the body acceleration measurement and the implement acceleration measurement; andthe first state vector estimate comprises a representation of a first attitude of the implement relative to the vehicle body.