Crane jib attitude and heading reference system and method

摘要

Methods and apparatus are provided for determining the attitude and heading angle of a crane jib (110). Crane jib angular velocity, crane jib roll angle, crane jib pitch angle, crane jib specific force, and magnetic field in the local operating environment of the crane jib are all sensed and supplied to a processor (210). All of these measurements are processed, in a processor, to estimate the attitude and heading angle of the crane jib.