| 摘要 |
An apparatus for, and a corresponding method of, determining the relative orientation of two members 11, 12 of an articulated work machine 10 is provided. The apparatus and method utilises inertia sensors 20, 21 by referencing the output from inertia sensors mounted on the members to one another. The articulated work machine 10 comprises a first frame 11 and a second frame 12 comprising a body 17 and a chassis 23, the body pivotally connected to the chassis. The first and second frames 11, 12 are connected by a coupling 13 and are movable relative to each other in at least one direction. The articulated work machine 10 further comprises a first multi-axis inertia sensor 20 attached to the first frame 11 providing an output relating to the position of the first frame, and a second multi-axis inertia sensor 21 attached to the body 17 providing an output relating to the position of the body. A controller compares the outputs of the first and second multi-axis inertia sensors 20, 21 to calculate the position of the body 17 and the first frame 11 relative to each other. |
