DETERMINING THE RELATIVE ORIENTATION OF MEMBERS OF AN ARTICULATED WORK MACHINE

摘要

This disclosure is directed towards determining the relative orientation of two members of an articulated work machine utilising inertia sensors by referencing the output from inertia sensors mounted on the members to one another. The articulated work machine comprises a first frame (11) and a second frame (12) comprising a body (17) and a chassis, the body pivotally connected to the chassis. The first and second frames are connected by a coupling and are movable relative to each other in at least one direction. The articulated work machine further comprises a first multi -axis inertia sensor attached to the first frame providing an output relating to the position of the first frame, and a second multi -axis inertia sensor attached to the body providing an output relating to the position of the body. A controller compares the outputs of the first and second multi -axis inertia sensors to calculate the position of the body and the first frame relative to each other.