MULTI-SOURCE POSITIONING SYSTEM FOR WORK MACHINES

摘要

A three-dimensional and a two-dimensional GPS unit periodically provide coordinate positions of points (14, 16, 18) on a work machine (10) and are combined with a Kalman filter to produce a point of reference on the work machine. The point of reference is improved by combining the position with an inertial position derived from accelerometer data in another Kalman filter. Additionally, the two-dimensional GPS unit provides a heading that is combined with an inertial orientation derived by the angular rate from a gyroscope in another Kalman filter to produce a precise orientation estimate. Inclinometers (26) provide pitch and roll of the work machine. With the point of reference, orientation estimate, pitch, roll and known geometry of the work machine, the invention calculates the location and orientation of machine components (14, 16, 18) and continuously tracks its movement throughout the mine. Additionally, the accelerometers and gyroscope provide position and orientation when the GPS units are inoperable.