System and method for job specific telemetry in earthwork projects

Abstract

A modular system which utilizes two or more wirelessly interconnected modular devices for monitoring the progress of earth moving activity at a site. The modular system is also adaptable to other operations such as mining or other activities that require coordinated monitoring of elevation or orientation changes across multiple points of interest. The modular devices provide the ability to monitor in real-time changes in ambient pressure, temperature, linear acceleration, magnetic field strength, and rotation axis orientation. Using such data, the modular system can calculate metrics and display data and visualizations highlighting earth moving progress towards desired outcomes on a work site.

Description

System and Method for Job Specific Telemetry in Earthwork ProjectsCROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to U.S. Provisional Application No. 63 / 633,297 filed on April 12, 2024 which is incorporated herein.BACKGROUND

[0002] Due to the diverse nature of earthwork projects for a variety of sectors including, but not limited to, construction and agriculture, a range of tools from planning to outcome to perform the work are required. The through line of any major earthwork project is a clear understanding of the project’s requirements and an accurate capture or determination of the characteristics of the site before work commences, as work is being performed, and as confirmation when work has completed to validate the projects outcomes against its requirements. These characteristics throughout the project could include anything relevant to the project including, but not limited to, elevation measurements throughout a site, the desired elevation for a building or structure, or the depth at which to dig a basement, foundation, or footing. Not only can these characteristics map to the site or the specific nature of the project, but they can also relate to the configuration and operation of a tool or a machine in use on the project. Characteristics like this could include the tilt, lean, and swing of a box blade when grading and crowning a road, or the real-time elevation of an excavator’s bucket while it digs. The successful outcome of any project requires taking accurate and precise measurements for these characteristics before, during, and after completion of a project. Measurements relating to these characteristics can be taken at specific points in time or even as work is being performed. Accurate and precise measurements can change the course of how an operator uses a machine or tool, how a specific job in the project needs to be accomplished, how a site will be laid out, or the planning, requirements, and timeline of a project at large. Often, measurements relating to these characteristics require specialized tooling, skillsets, or personnel and the work on an activity or project to pause. This complicates project planning, timelines, and cost. Therefore, the earthworks field would benefit from a simplified, modular system coordinated by a GUI for operation on any convenient portable device such as a smart phone, tablet etc.SUMMARY

[0003] In one embodiment, the present disclosure provides an earth working system in the format of a modular system. The earth working system comprises a display device having graphic user interface with input operations and a display. The system also includes a first modular device and at least a second modular device. Each modular device includes at least one pressure sensor, at least one temperature sensor, an inertial measurement unit, a processor, a wireless communications component and programming. The programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor. The data filtering operations include an ambient sensor array filter configured as a first digital signal processing filter which receives data from the temperature sensor and the pressure sensor and fuses the received data to provide a first set of fused data. The data filtering operations also include an inertial measurement unit filter configured as a second digital signal processing filter. The second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data. Additionally, the programming provides for a telemetry calculation operation which is configured to receive the first set of fused data and the first set of filtered inertial measurement data. The telemetry calculation operation is further configured to provide an output to the graphic user interface.

[0004] The present disclosure also provides a method for performing earth work at a site. This method includes the steps of: providing a modular system comprising at least a first modular device 20 and a second modular device 20, a display device 5, the display device having a GUI 60; each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit; a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at leastone temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array fdter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface; activating the modular system 10 using GUI 60; selecting the first modular device by activating the inertial measurement unit within the first modular device thereby identifying the first modular device to the processor; placing the first modular device at a predetermined location as identified by the GUI; placing the second modular device at a predetermined location as identified by the GUI; entering desired earth work activity using the GUI into the modular system; initiating earth work activity; monitoring earth work activity using the GUI.

[0005] The present disclosure also provides another method for performing earth work at a site. The alternative method comprises: providing a modular system comprising at least a first modular device 20 and a second modular device 20, a display device 5, the display device having a GUI 60; each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit;a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array filter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface; activating the modular system 10 using GUI 60; displaying instructions on the GUI for assigning a role to the first modular device and assigning a role to the second modular device; selecting a first icon representing the first modular device on the GUI and moving the first icon to a designated location on the GUI thereby assigning the first modular device to serve as an anchor reference; selecting a second icon representing the second modular device on the GUI and moving the second icon to a designated location on the GUI thereby assigning the second modular device to serve as a primary modular device located on an earth working machine; placing the first modular device at an anchor reference location on the work site; placing the second modular device on the earth working machine; entering desired earth work activity using the GUI into the modular system; initiating earth work activity;monitoring earth work activity using the GUT.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] FIG. 1 is a schematic depiction of one embodiment of a modular device for the modular system suitable for use during worksite preparation.

[0007] FIGS. 2A-2D provide a flow chart of the processes performed by the modular worksite preparation system.

[0008] FIG. 3 provides a flow chart depicting the steps carried out by a user of the modular worksite preparation system and results produced by the modular worksite preparation system.

[0009] FIG. 4 depicts one example of a worksite to be leveled for construction or other purposes.

[0010] FIG. 5 provides one example of a graphic user interface (GUI) used by the modular system depicting the progress in leveling a worksite.

[0011] FIG. 6 depicts a worksite in the form of a road.

[0012] FIG. 7 provides an example representation of the GUI display associated with preparing a road surface.

[0013] FIG. 8 provides an exemplary equation for determining elevation as carried out by the disclosed modular system.

[0014] FIGS. 9A-9B provide an example of a graphic user interface (GUI) used by the modular system to assign modular devices to roles they will play during a leveling activity.

[0015] FIGS. 10A-10B. provide an example of a graphic user interface (GUI) used by the modular system to guide the user through the device calibration process.DETAILED DESCRIPTION

[0016] The drawings included with this application illustrate certain aspects of the embodiments described herein. However, the drawings should not be viewed as exclusive embodiments. The subject matter disclosed is capable of considerable modifications, alterations, combinations, and equivalents in form and function, as will occur to those skilled in the art with the benefit of this disclosure.

[0017] Throughout this disclosure, the terms “about”, “approximate”, and variations thereof, are used to indicate that a value includes the inherent variation or error for the device, system, or measuring method being employed as recognized by those skilled in the art.

[0018] The present disclosure may be understood more readily by reference to these detailed descriptions. For simplicity and clarity of illustration, where appropriate, reference numerals may be repeated among the different figures to indicate corresponding or analogous elements. Also, the description is not to be considered as limiting the scope of the various embodiments described herein.

[0019] For any earthwork project, a variety of specific activities need to be accomplished, such as site leveling or road grading and crowning. Before those activities can be started for the project, certain measurements may need to be taken throughout the site to establish the desired location for the site leveling, the desired elevation for the site, as well as the road path(s) through the site. These measurements become key characteristics regarding the project, the site, and activities that will need to take place. Characteristics may be obtained through direct measurement or based on requirements relating to the project.

[0020] The modular system, or modular work site preparation system, provides an efficient system for performing these characteristic measurements. Once all of the relevant characteristics are known, an operator can use the resulting data in connection with several types of work vehicles to perform these activities with enhanced accuracy. The modular system, described herein, enables the operator not only to take preliminary measurements to shape the nature of the project, formulating its key characteristics, but also to monitor progress towards achieving the desired site characteristics in real-time and enables adjustment of their approach while performing the activity. As used herein, the term “characteristic” refers to observable elements of the site where work will be performed. The term “metric” refers to values transmitted by modular devices 20 via the mesh to the display an icon 93 for modular device 20 for visualization by GUI 60 (graphic user interface 60). Metrics include direct measurements and calculated values and are relevant to a given characteristic of the site. The term “target” is a value chosen by the user of the modular system as the desired end goal of the activity on the work site.

[0021] Modular system includes, at a minimum, modular devices 20 and a GUI 60 displayed on any convenient display device 5 having an internal processor, not shown, with programming suitable for managing operations of GUI 60, such as, but not limited to smart phones, tablets, laptops or even on an in-vehicle display system. See, for example, FIGS. 5, 7, 9 and 10. For the purposes of this disclosure, the operations performed on display device 5 will be described in terms of a mobile application or mobile app as managed by the processor of the display device 5;however, such operations may also be carried out on a laptop computer. The modular devices 20 in the modular system collaborate together as part of an interconnected mesh network. The display device 5 is also part of the mesh network and as such includes functionality for Wi-Fi, Bluetooth or both. Each modular device 20 includes an internal processor 23 with programming appropriate for the operations performed. One skilled in the art will be familiar with the software programming suitable for performing the operations described below. Note: in some embodiments, modular device 20 may incorporate operations of display device 5.

[0022] In most embodiments, modular devices 20 are configured to be handheld or at least readily portable such that they can be located on specific points of interest throughout the worksite. As described below, modular devices 20 may be fixed to any operational vehicle performing activities on the worksite and / or to a position on or nearby the worksite. Modular devices 20 contain internal sensors 22, 24 configured to measure barometric pressure and temperature respectively.

[0023] With reference to FIG. 1, each modular device 20 within the modular system, includes a system-on-a-chip that contains a processor 23, wireless communication 25 (Wi-Fi, Bluetooth or other convenient transmission system), memory 27, and other internal circuitry, not shown, suitable for connecting to a Wi-Fi system, transmitting and receiving data via Bluetooth, executing pre-programmed functionality, and storing arbitrary information on memory 27 local to modular device 20. Further, each modular device 20 is capable of operating with other modular devices 20 in the system as part of a collaborative mesh. Additionally, each modular device 20 includes at least one barometric pressure sensor 22 and at least one temperature sensor 24. In most embodiments each modular device 20 will have three barometric pressure sensors 22 and three temperature sensors 24. Further, each modular device 20 includes an inertial measurement unit (IMU) 26 suitable for measuring acceleration, direction, and orientation. IMU 26 commonly includes components such as a gyroscope, a magnetometer and an accelerometer. As such IMU 26 provides the ability to measure the linear acceleration forces, magnetic field strength, and orientation including yaw, pitch and roll of each modular device 20.

[0024] Thus, each modular device 20 provides the ability to monitor orientation, inertial changes, absolute elevation and relative elevation of specific points of interest, or positions, during an activity. Additionally, each modular device 20 will be able to monitor its position relative all other modular devices 20 in the active mesh environment. For the sake of clarity, processor 23has been configured with the necessary programming to manage the operations of pressure sensors 22, temperature sensors 24, IMU 26, memory 27 and communications operations via Wi-Fi or Bluetooth 25 as well as any other necessary tasks. Additionally, processor 23 has been configured with the necessary programming to manage and carry out the filtering, calibration and telemetry calculations of boxes 30, 40 and 50 of FIG. 2 as described in more detail below.

[0025] Conversion of the raw sensor data from each modular device 20 to metrics relevant to the earthwork site characteristics requires performance of calculations relevant and specific to each activity. During an activity, one modular device 20 is arbitrarily selected as a primary modular device 20, with the other modular devices 20 being designated as secondaries. In all instances, primary modular device 20 is located on an implement being used to perform earth working activities at the site. More than one modular device 20 may be used on an implement in which case one is arbitrarily selected as the primary and the other remains a secondary modular device 20. While all modular devices 20 in the modular system will collect sensor data relevant to their position and role in the activity, primary modular device 20 receives all of the sensor data throughout the interconnected mesh of modular devices 20 via the selected communication protocol. Primary modular device 20 stores the data in memory 27 and then uses the data to perform the calculations to arrive at the metrics that will be communicated, via the GUI 60 on display device 5, to the operator. Upon completion of the calculation of the metrics, the resulting data is sent to GUI 60 to be displayed to the operator thereby allowing the operator to manipulate the work vehicle, its implements, a tool, or the modular devices 20 themselves.

[0026] Maintenance, configuration, and control of the modular system as well as display of the metrics relevant to the current activity are provided by GUI 60. Key metrics that influence operator behavior may be displayed via GUI 60 using visualizations to allow for more intuitive guidance while performing the activity. In this manner, the modular system utilizes data gathered by each modular device 20, knowledge of the activity in progress, and key targets specified by the operator all in concert to provide real-time telemetry in the form of measured or calculated metrics that map to the characteristics for the project, site, or activity helping guide the operator towards achieving the desired outcomes. GUI 60 enables this outcome by displaying those metrics important to the final outcome of the activity both directly with the data as well as through the use of visualizations. See for example FIGS. 5 and 7.

[0027] For example, when performing site leveling with a tractor and front-end loader, GUI 60 displays current metrics such as pitch and roll of the bucket on a front-end loader as well as the distance in elevation between the bucket and the targeted elevation for the site. GUI 60 provides the unique ability to not only display the data calculated by the system, but to also portray visualizations relevant and specific to each metric. Thus, GUI 60 acts as a guide for the operator as they work towards achieving the desired characteristics for the activity, site, or project. The display of these metrics and visualizations guides the operator through the use of the work vehicle, e.g., front end loader, and its implements in real-time while they perform the work. In contrast, current practices require either separate personnel to physically determine these metrics or the operator must pause operations and leave the work vehicle to measure them for themselves. Thus, the modular system provides for not only an improvement to the accuracy and precision of the activity outcome but also reduces costs and saves time.

[0028] In a first exemplary embodiment, when an operator is prepared to perform one of these activities, they can use GUI 60 to designate the type of activity they are performing. The selection of the activity within GUI 60 causes the modular system to determine the number of modular devices 20 required to perform the activity. Subsequently, GUI 60 will prompt the user to manipulate each modular device sufficiently to activate IMU 26 thereby enabling the identification of each modular device 60 within the mesh system. Upon identification of each modular device 60 within the mesh system GUI 60 will provide the operator with the necessary positioning of that modular device 20. Following, identification and positioning of each modular device 20 and identification of a primary modular device 20, primary modular device 20 will identify and calculate metrics against the characteristics relevant to the activity.

[0029] In a second exemplary embodiment, when an operator is prepared to perform one of these activities, they can use GUI 60 to designate the type of activity they are performing. The selection of the activity within GUI 60 causes the modular system to determine the number of modular devices 20 required to perform the activity. Subsequently, GUI 60 displays to the user a set of roles needed for the chosen activity alongside a representation of each modular device 20 connected to the mesh network. To assist the operator in identifying which physical modular device 20 corresponds to each icon 93 representation in GUI 60, the system provides one or more features. For instance, if the user picks up a particular modular device 20 and lightly moves it around, icon 93 for the corresponding modular device 20 representation may highlight or “wiggle”on GUI 60, see for example icon 93a in FIG. 9A. Alternatively, tapping icon 93 in GUI 60 may cause the real-world modular device 20 to produce a local cue such as a flash of light, a brief sound, or a haptic pulse. By using these tools, the operator can confidently select and drag-and- drop each depicted device into the GUI’s designated role. Once modular device 20 is assigned to a role through the drag-and-drop interface, GUI 60 provides the operator with instructions on physically placing that modular device 20 in its required position for the activity. Upon placement of all required modular devices 20 and designation of a primary modular device 20, primary modular device 20 will identify and calculate metrics against the characteristics relevant to the activity.

[0030] FIGS. 4 and 5 depict an example wherein the modular system is used in a site leveling operation. For site leveling, one such example of an earth working implement could be a tractor 102 using a front-end loader’s bucket 91 to level the designated work area 105. In this context, first modular device 20 will be placed on bucket 91 and second modular device 20 placed in a nearby safe location or anchor reference location 100. This configuration of the modular system will allow the operator to input the desired elevation of designated area 105 and using GUI 60 monitor progress of work to achieve preparation of designated area 105 to the desired elevation as well as ensuring that designated area 105 is level. Note: multiple secondary modular devices 20 acting as reference anchors may be located across work area 105. This ensures that primary modular device 20 on bucket 91 or other earth working tool remains in contact with at least one anchor reference location 100 (secondary modular device 20) via the mesh network throughout the earth working operation.

[0031] FIG. 5 depicts display device 5 with GUI 60 showing the progression when an operator sets their target elevation 61 using GUI 60, then observing the live telemetry as depicted by display device 5 and target lines 66, 67 in representative simulated screen captures 62 and 63. GUI 60 as depicted in screen captures 62 and 63 showcases an example of the real time orientation of the bucket with examples of the bucket being higher than the desired target elevation line 67 on screen capture 62 or below the target elevation line 67 on screen capture 63 where target line 67 represents the actual elevation of the earth working tool. Further, the display provided by GUI 60 allows the operator to alter the target line 66 via a reset of the elevation as they perform the activity, shown in simulated screen captures 62 or 63, so the operator can progress through the activity, potentially with multiple targets in mind.

[0032] FIGS. 6 and 7 depict an example of using the modular system in a road grading operation. For road grading and crowning, one such example vehicle 102 could be a tractor with an implement such as a landplane or box blade 107. In this context, a modular device 20 can be placed on the tractor 102 at location 103, as well as second modular device 20 on the landplane or box blade 107 at location 104, with a final modular device 20 nearby in a fixed and safe location, i.e. anchor reference location 100. Note, the distance between devices 20 is limited only by the effective range of the mesh network. Additionally, multiple secondary modular devices 20 acting as reference anchors may be located across work area 105. This ensures that primary modular device 20 on bucket 91 remains in contact with at least one anchor reference location 100 (secondary modular device 20) via mesh network throughout the earth working operation.

[0033] FIG. 7 depicts display device 5 with GUI 60 showing how an operator may set their target blade cut intensity 71 using GUI 60 of display device 5, followed by GUI 60 example depictions of the real time orientation of the box blade adjacent to the tractor on simulated screen captures 72 and 73. In screen captures 72 and 73, target line 66 represents the desired location of the blade and target line 67 represent the actual location of the blade. As demonstrated in simulated screen capture 72, the operator uses GUI 60 to guide the box blade when it is higher than the targeted cut intensity to a lower position and conversely if the box blade is too low as depicted by simulated screen capture 73 to raise the box blade.

[0034] The complexity of the activity, and consequently the number of concurrent points of interest to be monitored, will determine the number of modular devices 20 required. Site leveling will require the use of at least two modular devices 20. However, road grading and crowning will utilize at least three modular devices 20 to collect the additional data necessary to provide the operator with all of the relevant metrics.

[0035] In all cases, regardless of activity type, the modular system uses the raw sensor measurements from each modular device 20 in the mesh to calculate or display metrics specific to characteristics relating to the activity, site, or project. Once measurement and calculations are complete, those metrics are transmitted from the primary modular device 20 to the mobile app on display device 5 for display by GUI 60. Thus, the modular system transforms the raw measurement data and leverages it to produce a more accurate desired outcome for the activity type than previously possible.

[0036] The following discussion will describe the implementation of modular devices 20 through two exemplary embodiments for performing site leveling tasks. In both embodiments, the operation of the modular system is described in connection with site leveling in preparation of building construction and with reference to FIG. 3. However, the methods described will be effective for all landscaping operations. Thus, step 1 is selecting an activity, e.g., site leveling. When performing site leveling, GUI 60 will guide the user through steps 2-5. These steps include: (1) selecting the activity; (2) role assignment for each modular device 20; (3) identification of each modular device 20, (4) confirming role assignment by positioning icon 93 representative of modular device 20 in the appropriate role on GUI 60; and, (5) physically positioning modular devices 20 based on the assigned role. Thus, the performance of these steps helps the operator determine where to physically position each modular device 20. Each modular device 20 is capable of performing any role in any activity.

[0037] In a first exemplary embodiment, role assignment, step 2, utilizes the IMU 26. To assign a role to the first modular device 20, the user picks up the first modular device 20 and shakes it. The change of state identified by IMU 26 produces a signal which is transmitted via either WIFI or Bluetooth to the app for display by the GUI 60. The app, via GUI 60, assigns a role to the first modular device 20 and provides instructions to the user regarding placement and functionality to be performed by first modular device 20. The step of shaking each modular device 20 and placing them in their designated placement is repeated until all modular devices 20 have been identified and assigned a role and placement. Thus, steps 2-5 have been completed.

[0038] In a second exemplary embodiment, role assignment, step 2, utilizes IMU 26 in conjunction with a GUI 60. To assign a role to a given modular device 20, the user may pick up that device, prompting IMU 26 to detect motion. This motion can be displayed on GUI 60 by causing the corresponding device’s icon 93 to highlight or “wiggle,” allowing the user to confirm which modular device 20 they are handling. Alternatively, the user may tap on the icon 93 in GUI 60, prompting the real-world modular device 20 to generate an identifying signal, such as an LED flash, sound emission, or haptic pulse, so the user can confirm which physical modular device 20 corresponds to that icon 93. Once identified, the user drags that modular device’s icon 93 to the appropriate role assignment area for example 111 for when secondary modular device 20 is acting as an anchor reference location 100 on GUI 60. As another example with reference to FIGS. 9-10 icon 93 may be dragged to role assignment area 113 when it will be acting as a primary modulardevice 20 attached to an earth working implement. Following assignment, the modular system associates that modular device 20 with the chosen role. This drag and drop process is repeated for all modular devices 20 until each has been assigned and physically placed in the designated location. Thus, upon completion of steps 2-5, all devices 20 have been recognized within the system and mapped to their respective roles.

[0039] In both exemplary embodiments, once the operator has completed modular device 20 placement and chooses to begin the activity, the app via GUI 60 performs step (6), arbitrarily designating one modular device 20 to perform the task of primary modular device 20 in addition to the role it plays in the activity. The remaining modular devices 20 in the mesh network are consequently secondaries.

[0040] In both exemplary embodiments for the case of performing a site leveling operation, first modular device 20 will be assigned the role of the fixed modular device 20 to facilitate adjustments for weather variations during performance of the activity. Thus, in a site leveling operation, the operator will place first modular device 20 in a location where it can remain fixed and will not be accidentally disturbed during the performance of the activity. For example, location 105 in FIG. 4. The second modular device 20 will be secured to an earth grader 102 or other earth moving implement 102 at a known location above ground level. Following confirmation by the app via GUI 60 of the selection and proper positioning of each modular device 20, the modular system is ready for operation. The GUI 60 will display confirmation of selection and positioning.

[0041] With continued reference to FIG. 3, in both embodiments, upon user initiation of the desired activity at step (7), the smart phone app directs each modular device 20 to begin collecting sensor data using temperature and pressure sensors 22, 24 and IMU 26. As data is collected, each modular device 20 transmits data to the primary modular device 20 for storage in memory 27 while primary modular device 20 collects and stores data directly in memory 27 for use as described below. Thus, each modular device 20 in the mesh network of the modular worksite preparation system collects and transmits data to primary modular device 20. Additionally, each secondary modular device 20 retains data in its own memory 27. Primary modular device 20 then performs the operations described below in the discussion of FIG. 2 to calculate the relevant metrics for the selected activity, steps (8)-(12). Thus, in step (12) primary device 20 leverages the received data to produce the final calculated state of the modular system, e.g., telemetry related to location andelevation, and consequently the earth mover and its implement. The resulting output of primary modular device 20 is then transmitted to the app via WIFI or Bluetooth for display by GUI 60 (Steps 13 and 14). Thus, operation of the modular system not only tracks the transition of the worksite to the final desired state but does so by interpreting the raw measurement data to produce a visual output suitable for monitoring and adjusting the equipment used to prepare the site.

[0042] FIG. 2 depicts three modular devices 20 and the operations carried out during the input and interpretation of data generated by each modular device 20. The operations are depicted in three elements: (A) ambient sensor array filter, identified as dashed box 30 alone or in combination with optional elevation filter, referred to as Butterworth Filter 36, and calibration multiplier 33; (B) Filtering operations within IMU 26 take place within a filter array identified as dashed box 40. As reflected therein, these operations are carried out by DSP filters 42, 44, 46; and (C) telemetry calculations, represented by dashed box 50 which includes three elevation inputs, one primary and two secondary. Each modular device 20 produces the sensor data and performs the operations depicted by operation boxes 30, 40 and 50 of FIG. 2 to determine operational telemetry of each device. Since modular devices 20 are interchangeable, any one modular device 20 may be assigned the role of primary.

[0043] In both exemplary embodiments, each sensor within a given modular device 20 produces data may have inherent noise, either as the result of electrical interference or an inherent margin of error in the sensor, leading to a bounded variability in the measured values. Digital signal processing (DSP) filters can be used to remove or reduce this noise. DSP filters include but are not limited to both simple and Extended Adaptive Kalman filters and low-pass filters such as the Butterworth filter, each offering distinct advantages depending on the nature of the signal. Other DSP filters suitable for use in the following embodiments, selected according to the type of sensor noise or data characteristics, include but are not limited to: band-pass filters (Elliptic / Cauer), median low-pass filters, Bessel filters (Low-Pass), band-stop (notch) filters, or Savitzky-Golay filters, Chebyshev low-pass filter. In the first exemplary embodiment, an Extended Adaptive Kalman filter 32 is utilized to track predicted states over time and mitigate sensor noise. In the second exemplary embodiment, the same Extended Adaptive Kalman filter 32 remains in place, supplemented by a Butterworth filter 36 or other similarly designed low-pass DSP filter having a maximally flat passband and minimal phase distortion thereby providing additional attenuation of high-frequency noise.

[0044] Thus, an Extended Adaptive Kalman filter 32 can be leveraged to provide filtration of one or more signals, from one or more sources, especially when signals correlate with each other in describing the state of a single system, such as ambient air pressure and temperature. This allows for noise filtration similar to a simple Kalman filter or other DSP 42, 44, 46, with the ability to adjust for stability vs responsiveness in each signal as well as fusion of signals from multiple sources. Additionally, a Butterworth fdter 36 can be introduced to achieve a more classical approach to signal processing, featuring a maximally flat passband and minimal phase distortion. By selecting the appropriate filter order, the steepness of the Butterworth filter’s roll-off can be tailored to effectively remove high-frequency noise while preserving essential signal content, thus complementing the predictive and adaptive nature of the Extended Adaptive Kalman filter 32. As with filtration, the fusion of signals from multiple sources can be balanced to control the influence each signal source has on the Extended Adaptive Kalman filter’s model and predictions. The Extended Adaptive Kalman filter’s ability to fuse multiple signal sources together, representing a single system, enables using multiple sensors to measure ambient pressure and temperature more precisely and accurately.

[0045] DSP filters such as, but not limited to, Butterworth, simple Kalman filters and Extended Adaptive Kalman filters can be resourced from open-source software repositories like GitHub. Box 30 provides an ambient sensor array filter in the form of an Extended Adaptive Kalman filter 32. Extended Adaptive Kalman filter 32, includes values for error, estimated noise and measurement noise coefficients. The operation of Extended Adaptive Kalman filter 32 provides an estimate of the true value of the state for the observed metrics: pressure and temperature. In both embodiments, Extended Adaptive Kalman filter 32 remains available to mitigate sensor noise, while in the second embodiment, also depicted in FIG. 2, the optional Butterworth filter 36 has been added after Extended Adaptive Kalman Filter 32. In this operation, Butterworth filter 36 further filters data from Extended Adaptive Kalman Filter 32 and offers a classical low-pass approach recognized for its maximally flat passband and minimal phase distortion, thereby enhancing the overall noise attenuation for higher-frequency components.

[0046] In both exemplary embodiments, each modular device 20, through the described operations, provides noise reduction and sensor data fusion. Thus, each modular device 20 performs the operations of boxes 30 and 40 to provide clean, reliable readings for use in activity calculations performed in box 50 of primary device 20. This includes the operation of the ambientsensor array filter 30, which may use an Extended Adaptive Kalman filter 32 or other suitable adaptive or fixed filtering techniques. In the described methods, measurement noise coefficients can be adjusted on the fly, statically set, or updated through other forms of adaptive control. In this manner, each modular device 20 leverages calibrated, noise-reduced data to improve overall accuracy and precision in the mesh environment.

[0047] In the first exemplary embodiment and with reference to FIG. 2, each modular device 20 provides data to ambient sensor array filter 30. Within ambient sensor array 30, the operation of Extended Adaptive Kalman filter 32 produces a predicted state using the hypsometric formula of FIG. 8 representative of the current ambient air pressure and ambient temperature of modular device 20. As such, in addition to accepting signals from multiple sources, an Extended Adaptive Kalman filter can accept more than one signal from each of its sources, such as air pressure and temperature, that correlate in their influence on the same ambient weather system. This accommodates for the reality that ambient air pressure and temperature are linked and changes in one have correlations with the other on their impact on the ambient weather system surrounding modular device 20. Thus, during the processing of each ambient sensor sample, the raw sensor readings for air pressure and temperature, from each modular device 20, enter the Extended Adaptive Kalman filter 32 influencing its modeled representation of the ambient weather system allowing it to produce a new, single, estimation of the predicted state for air pressure and temperature. Because this embodiment does not use Butterworth filter 36 or calibration multiplier 33, the current estimated predicted state is transmitted as the final representative data, i.e., fused data, to primary modular device 20 in the calculations of box 50.

[0048] In the second exemplary embodiment, also with reference to FIG. 2, the operation of each Extended Adaptive Kalman filter 32 within ambient sensor array filter 30, internally applies the hypsometric formula of FIG. 8 with local pressure and temperature data to produce a predicted state representative of the current elevation of modular device 20. As such, in addition to accepting signals from multiple sources, an Extended Adaptive Kalman filter can accept more than one signal from each of its sources - such as air pressure and temperature - that correlate in their influence on the device’s resulting elevation. This accommodates the reality that ambient air pressure and temperature are linked, and changes in one have correlations with the other on their impact on the ambient conditions surrounding modular device 20. Thus, during the processing of each ambient sensor sample, the raw sensor readings for air pressure and temperature, from each ambient sensor,enter the Extended Adaptive Kalman filter 32, influencing its modeled representation of these conditions and allowing it via the hypsometric formula to produce a new, single estimation of the predicted elevation. If modular device 20 has previously been calibrated, the current estimated predicted state is multiplied by calibration multiplier 33 before being transmitted as the final representative data, i.e., fused data, to primary modular device 20 in the calculations of box 50.

[0049] In both exemplary embodiments, modulation occurs within ambient sensor array filter 30 by manipulating the measurement noise coefficients associated with each sensor 22 and 24 in the array and providing the revised coefficients to Extended Adaptive Kalman filter 32 for use with the next sample cycle. For example, inherent in the nature of ambient pressure sensors 22 and temperature sensors 24, each sensor has a tendency to float or drift around what it perceives to be the true value. This could be due minute fluctuations in the ambient air pressure and temperature perceived by sensors 22, 24 or by the sensor stabilizing in its response to changes in ambient air pressure due to motion, or changes in ambient air temperature due to exposure to direct sunlight or shade. Since each sensor 22, 24 experiences these fluctuations, each must have their influence on the Extended Adaptive Kalman filter 32 modulation. One technique of potentially many, is to calculate the innovation of for the values of each temperature and pressure sensor 22, 24 compared to the predicted value from Extended Adaptive Kalman filter 32 for each temperature and pressure sensor 22, 24. The innovation, a term familiar to one skilled in the art, represents the difference between each individual sensor’s measured value and the final value the Extended Adaptive Kalman filter 32 predicts. The innovations from each sensor 22, 24 can then be converted to a weighted average based on each sensor’s individual innovation compared to the total innovation across all sensors 22, 24. These weighted averages can then be mapped to new measurement noise coefficients within a designated, bounded, range. As these coefficients vary with time based on the underlying innovation for each sensor 22, 24, the Extended Adaptive Kalman filter 32 can be modulated to favor temperature and pressure sensors 22, 24 that tend to agree while giving less weight to those sensors that do not agree. This arrangement accommodates for the inherent drift and float each sensor can experience by modulating how much each sensor influences the next predicted value from the Extended Adaptive Kalman filter 32. This weighted influence will change with time and will progressively modulate the influence of each ambient sensor on the Extended Adaptive Kalman filter 32.

[0050] In the second embodiment, the output of Extended Adaptive Kalman filter 32 is further processed within the ambient sensor array by optional Butterworth filter 36, which applies a low- pass approach recognized for its maximally flat passband and minimal phase distortion. By filtering out higher-frequency fluctuations that may persist even after Kalman-based estimation, Butterworth filter 36 refines the final signal to provide a more stable reading of the observed metrics. One approach, among many, is to use Butterworth filter 36 and select an appropriate cutoff frequency and filter order that specifically targets the transient noise profile without overly suppressing genuine variations in pressure or temperature. This additional layer of filtering can be tuned to accommodate the inherent drift and float sensors can experience, thereby ensuring a smoother, more reliable value as the final output. Combining the Extended Adaptive Kalman filter 32 and the Butterworth filter 36 in the second embodiment ultimately provides enhanced noise mitigation and improved accuracy in capturing the true ambient conditions.

[0051] In the first exemplary embodiment, addition to filtering and fusing the sensor data for pressure and temperature, each modular device 20 also filters data representative of pitch, roll and yaw generated by the IMU 26. Accelerometers, magnetometers, and gyroscopes, like pressure and temperature sensors, have some amount of bounded noise inherent in the values they return. This noise needs to be filtered out in order to provide stable values representative of the real world orientation of the sensor. To accomplish this, values from IMU 26 are provided to IMU sensor filter array 40. In this embodiment, IMU sensor filter array 40 includes three separate and distinct DSP filters in the form of simple Kalman filters 42, 44, and 46. Simple Kalman filter 42 is configured to interpret raw pitch data and produce a predicted pitch state for each modular device 20. Simple Kalman filter 44 is configured to interpret raw roll data and produce a predicted roll state for each modular device 20. Simple Kalman filter 46 is configured to interpret raw yaw data and produce a predicted yaw state for each modular device 20. The resulting predicted pitch, roll and yaw data values from filter array 40 are provided alongside the filtered and fused pressure and temperature data from ambient sensor array filter 30 of each modular device 20 to primary modular device 20. Although each modular device 20 is capable of carrying out the telemetry calculations of box 50, only primary device 20 will receive and combine data from all modular devices 20 prior to performing the telemetry calculations of box 50 to calculate the metrics relevant for the activity.

[0052] In the second exemplary embodiment each modular device 20 supplements the filtering and fusing of the sensor data for pressure and temperature by also filtering data representative ofpitch, roll, and yaw generated by the IMU 26. Accelerometers, magnetometers, and gyroscopes, like pressure and temperature sensors, have some amount of bounded noise inherent in the values they return. This noise needs to be filtered out in order to provide stable values representative of the real-world orientation of the sensor. To accomplish this, values from IMU 26 are provided to IMU sensor filter array 40. In this embodiment, three separate and distinct DSP filters 42, 44, and 46 in the form of Butterworth filters or other suitable digital filters capable of removing unwanted signal components are used. Filter 42 is configured to interpret raw pitch data and produce a noise- reduced pitch state for each modular device 20, filter 44 likewise processes roll data, and filter 46 addresses yaw data. These DSP filters may be implemented as low-pass Butterworth filters or any other suitable digital filter designed to remove unwanted signal components. The resulting pitch, roll, and yaw data values from filter array 40 are then provided, alongside the filtered and fused pressure and temperature data from ambient sensor array filter 30, to primary modular device 20. Although each modular device 20 is capable of carrying out the telemetry calculations of box 50, only primary modular device 20 will receive and combine data from all modular devices 20 prior to performing the telemetry calculations of box 50 to calculate the metrics relevant for the activity.

[0053] In the second exemplary embodiment, each modular device 20 may be calibrated prior to use in order to reduce variance among its multiple pressure and temperature sensors 22, 24. While the calibration procedure is not strictly required for all activities, it significantly improves consistency and accuracy when multiple temperature and pressure sensors are present on a single modular device 20. Referring to FIGS. 9-10, the user uses GUI 60 on display device 5 to designate two modular devices 20 within GUI 60: one modular device 20 to act as a fixed anchor reference location 100, simply placed in a stable location, and a second modular device 20 designated for calibration. Icon 93a in FIG. 9A represents the modular device 20 being physically moved by the user - detected via its IMU 40 - and illustrated in GUI 60 as a “wiggling” or vibrating icon 93a. GUI 60 may use other interface elements (e.g., flashing, color changes) in place of wiggling icon 93a to confirm which modular device 20 is being calibrated. Importantly, this calibrated modular device 20 need not be attached to any implement (such as a bucket 91); rather, GUI 60 will guide the user to position it for calibration. The user also selects or provides an object of known height, such as a table or shelf, for use in measuring elevation differences.

[0054] When the operator initiates the calibration process in GUI 60, they enter the known height of the reference object. Primary modular device 20 to be calibrated is then positioned at thebase of that object, and the user selects a “Record” prompt within GUI 60. The designated primary modular device 20 measures its current elevation relative to the fixed modular device 20, acting as a reference located at anchor reference location 100, storing both raw measurements from each temperature and pressure sensor 22, 24 and the resulting fused elevation. The user subsequently returns the device to the top of the same object, selects “Record,” and may repeat this sequence until sufficient measurements are obtained. Each measurement cycle captures how the device’s internal sensors perceive the change in elevation between the top and base of the reference object.

[0055] Using the recorded data, the modular device 20 uses a scaling factor to compute a calibration multiplier 33 for each sensor. As used herein, the term “calibration multiplier” refers to a scaling factor that adjusts each sensor’s measured elevation to align with a known reference height or geometric spacing. By comparing the measured elevation differences against the known reference height, the system can identify and compensate for any systematic bias in the raw sensor data. By averaging the sensor data across multiple cycles, the system can further refine each resulting calibration multiplier 33 to reduce variability. Once determined, these calibration coefficients are stored locally on the device’s memory 27 so that they persist across reboots or power cycles. Consequently, each modular device 20 applies its unique calibration factors — following the Extended Adaptive Kalman 32 and Butterworth 36 filtering operations within ambient sensor array filter 30 — whenever it performs further measurements or transmits barometric and temperature data to the mesh network. Although optional, this calibration step significantly improves accuracy in modular devices 20 containing multiple pressure and temperature sensors.

[0056] The calibration process may utilize internal geometry of modular device 20 in lieu of an external reference height. For instance, if the spatial relationships among temperature and pressure sensors 22, 24 are precisely known, the operator may place modular device 20 on its various faces or edges to record elevation data. As used herein, a “face” refers to a generally planar surface of the housing of modular device 20, and an “edge” is the boundary formed where two such faces meet. In one example, modular device 20 may have three main faces arranged in a “delta” shape, allowing it to rest stably on any face or be balanced along an edge, thereby positioning sensors 22, 24 at known, distinct heights above a reference plane. By comparing readings while modular device 20 is reoriented, the system can compute calibration multipliers 33 for each sensor 22, 24 based on known distances and orientations within modular device 20 itself.These alternative approaches - whether relying on an external object of known height or internal geometric references - may be used separately or in combination to achieve thorough sensor calibration.

[0057] For each activity type, the operator will use GUI 60 to share relevant knowledge related to the activity goal with the modular system and to modular devices 20 via the modular device mesh network. As an example, in site leveling, the operator needs to convey the desired elevation for the site. In the context of road grading and crowning, they need to convey the desired cut intensity for the box blade mounted to the three-point hitch.

[0058] In all activity types, these goals are set as targets either through the direct input of numeric values by using GUI 60, or by physically orienting the working vehicle or its implements into a specific orientation and then triggering the modular system thereby activating the modular device mesh network such that each modular device 20 receives and stores the necessary data for that target orientation.

[0059] For targets that are relevant to a given characteristic, like site elevation for site leveling, the modular system compares the measurement data metrics to the desired target and utilizes GUI 60 to convey to the operator progress to the desired target. GUI 60 provides the comparisons, or differences as discretely displayed values as well as visualization such as depicted in FIGS. 5 and 7 alongside the other metrics to help guide the operator towards the desired outcome.

[0060] In all exemplary embodiments and with reference again to FIG. 2, primary device 20 performs the telemetry calculations of Box 50 to calculate the desired telemetry data. The designated primary modular device 20 receives measurement data from each secondary modular device 20 and stores the data based on each modular device’s 20 role in the activity, alongside its own measurement data in the on-device memory 27 within modular device 20. As such, using the example of site leveling, data for two roles are stored: (a) data for modular device 20 attached to an earth moving implement; and, (b) data for fixed modular device 20 positioned adjacent to the work area. For site leveling, the pitch and roll for the earth moving implement is not involved in any calculations, so the data from that associated modular device 20 can be passed through primary modular device 20 directly to the mobile app for display by GUI 60. For other activity types, such as road grading and crowning, data from IMU 26 is involved in calculations. One such example is calculating the tilt of a box blade adjacent to tractor, which simply requires taking the differencein roll between modular device 20 attached to the tractor and modular device 20 attached to the box blade.

[0061] As reflected in FIG. 5, GUI 60 also continuously displays the elevation of the earth moving implement adjacent to the desired target elevation. The display of an accurate relative elevation measurement in real time requires adjustment of the pressure data transmitted from modular device 20 on the earth moving implement for pressure drift due to weather. As work transpires on any given activity, the local ambient pressure and temperature will change over time due to weather. As a result, without compensating for this change due to weather, it will be impossible to discern between changes in indicated elevation due to weather vs changes in elevation because of true physical movement. Thus, only the pressure data from modular device 20 attached to the earth moving implement must be adjusted for change in weather.

[0062] As referenced in FIG. 2, box 50, primary modular device 20, when performing telemetry calculations, leverages the pressure provided by modular device 20 positioned in a fixed location adjacent to the site in order to adjust the pressure data collected from secondary modular devices 20 attached to the earth moving implement to account for weather. The difference between the pressure measured by primary modular device 20 at a fixed adjacent location in real-time during the activity and its recorded pressure at the start of the activity represents the amount of pressure drift caused by weather. Subtraction of the calculated pressure drift from the real-time measured pressure provided by modular device 20 on the earthmoving implement provides a weather adjusted pressure reading.

[0063] In the first exemplary embodiment, now that a weather adjusted pressure reading has been established for the earth moving implement, the adjusted value can be used to determine a key metric for display relating to site leveling, the delta elevation between the earth moving implement, in real-time, and the desired target elevation. Subtraction of the weather adjusted pressure reading for the earthmoving implement from the target elevation’s pressure, which was saved when the operator set elevation at the beginning of the activity, provides the delta pressure. To communicate the delta of the earth moving implement relative to the targeted elevation meaningfully to the operator, the delta pressure needs to be converted to a delta elevation. This conversion can be performed by using the delta pressure as well as an average of temperature across each modular device 20 in a conventional pressure to elevation equation. One example of such an equation would be FIG 8. This delta elevation is a key metric to be displayed by GUI 60to the operator to influence their control of the earth moving implement. Once primary modular device 20 has calculated all telemetry metrics, using the steps described above, they are transmitted along with any relevant direct measurements to the app for display by GUI 60. Consistent with the site leveling activity, all other activities will utilize a series of telemetry calculations to determine orientation or position of each point of interest adj acent to either the earth or other points of interest.

[0064] In the second exemplary embodiment, now that a local elevation reading has been established for the earth moving implement, that reading can be used to determine a key metric for display relating to site leveling: the delta elevation between the earth moving implement, in real time, and the desired target elevation. Subtraction of the local elevation for the earthmoving implement from the target elevation - which was saved when the operator set elevation at the beginning of the activity - provides the delta. To communicate the difference relative to the targeted elevation meaningfully to the operator, each modular device 20 derives its local elevation by applying a conventional pressure-to-elevation equation (e.g., the hypsometric formula of FIG. 8) to the data from its on-board pressure and temperature sensors 22, 24 while incorporating any previously determined calibration multiplier 33. This delta elevation is a key metric to be displayed by GUI 60 to influence the operator’s control of the earth moving implement. Once primary modular device 20 receives these locally computed elevation readings, it calculates all relevant telemetry metrics and transmits them, along with any direct measurements, to the app for display by GUI 60. Consistent with the site leveling activity, all other activities will utilize a series of telemetry calculations to determine orientation or position of each point of interest adjacent to either the earth or other points of interest.

[0065] In all exemplary embodiments, upon receipt of all calculated telemetry metrics for a given activity, GUI 60 presents the data to the operator. Each activity and each metric within it may be displayed and visualized differently as determined by the nature of the activity thereby conveying the metrics in the most intuitive manner relevant to the key characteristics for performing the activity.

[0066] In all exemplary embodiments, referring now to FIG. 5, as an example, with site leveling, in addition to displaying the values for the front-end loader’s angle from earth level as well as the elevation difference between the bucket and the desired site elevation, there may be visualizations to convey both the current and historical states of each of those characteristics as well. One suchexample for visualizing the angle from earth level would be something similar to an attitude indicator in an airplane. For the distance from the desired site elevation, as visualized in simulated screen captures 61, 62, something as simple as two target lines 66, 67 super imposed overtop each other could signify if the bucket is too high (screen 62), above the desired elevation, or too low (screen 63), below it. In either case, the display of the data and the visualization provided by GUI 60 assist in guiding the operator in how to adjust the bucket to achieve the desired outcome for the activity.

[0067] While the foregoing examples use two and three secondary modular devices 20, the modular system may include as many modular devices 20 as required for the accurate performance of a given task and as dictated by the number of points of interest relevant to the activity. Additionally, while specific examples may identify a set number of modular devices 20 for performing the task, additional modular devices 20 may be used to enhance accuracy or for purposes of redundancy. As such, the modular system is not limited to a predetermined number of modular devices 20 used as secondary modular devices 20.

[0068] For clarity, the following provides a stepwise presentation of leveling a site using the first exemplary embodiment of the modular system described above. While described as stepwise, the actual order of steps may be varied. The method includes:• select at least two modular devices 20• activate the modular system using GUI 60, GUI 60 is displayed on a tablet, smart phone, PC or other similar device, the tablet, smart phone or PC displaying GUI 60 is connected and is part of a mesh system which includes modular devices 20• the modular system automatically connects with each modular device 20 and connects modular devices 20 to one another• following instructions displayed by GUI 60, the operator selects a first modular device 20 by activating IMU 26 via shaking• the operator places the first modular device 20 per instructions from GUI 60• the operator selects second modular device 20 by activating the IMU 26 via shaking• the operator place second modular device 20 per instructions from GUI 60• using GUI 60 the operator indicates desired site characteristics for final site• upon entry of desired site characteristics, GUI 60 directs first or second modular device 20 to assume primary modular device 20 operations• the operator monitors earthwork operations using GUI 60 any modular device 20• one modular device 20 is stationary at anchor reference location 100 and provides a weather reference point for the other modular device(s) 20• during earthwork operations each modular device 20 generates sensor data for temperature and pressure and inertial motion sensor data of yaw, pitch and roll• each modular device 20, stationary and mobile, performs calculations to generate barometric pressure, temperature, yaw, pitch and roll. o To provide improved accuracy, each modular device 20 may have at least three pressure sensor 22 and three temperature sensors 24.■ Each temperature and pressure sensor 22, 24 outputs data to an internal Extended Adaptive Kalman Filter 32 which is part of ambient sensor array filter 30 within the modular device 20. Extended Adaptive Kalman Filter 32 filters out data noise to produce a single value for barometric pressure and a single value for temperature, fused from each of the three temperature sensors 24 and three pressure sensors 22 respectively.■ The latest predicted data being transmitted is used to modulate the influence exerted by each of the ambient sensors in the array on Extended Adaptive Kalman filter 32.• Predicted data is provided by the Extended Adaptive Kalman Filter 32. Extended Adaptive Kalman Filter 32 uses raw data for pressure and temperature and predicts what the new set of data should be. The “predicted data” also referred to as the “predicted state” is an artifact of the Extended Adaptive Kalman Filter 32 that is used only within Extended Adaptive Kalman Filter 32.■ Modulation is achieved by calculating the innovation of each sensor’ s value compared the predicted value from the Extended Adaptive Kalman filter 32. The innovations from each sensor are converted to a weighted average based on each sensor’s individual innovation compared to the total innovation across all sensors.■ The weighted averages are mapped to new measurement noise coefficients within a designated, bounded, range.■ Thus, Extended Adaptive Kalman filter 32 is modulated to favor those sensors that tend to agree more and favoring the sensors that do not less. o Each modular device 20 has a single IMU 24. o Each IMU 24 outputs pitch, roll and yaw data to individual internal simple Kalman filters 42, 44, 46 which are part of IMU filter array 40 of modular device 20. The filters remove data noise to produce a single value for each of pitch, roll and yaw. o The filtered data is provided to primary modular device 20 via the mesh network.• Primary modular device 20 performs the telemetry calculations of box 50 necessary to identify the current state of the earthwork relative to the desired final state.• Primary modular device 20 transmits the telemetry calculations to GUI 60 for display in a numerical and visual manner which allows the operator to adjust the work being performed on the site.• Modular devices 20 continue collecting and reporting data in real-time to primary modular device 20 which continuously transmits updated data and imagery to GUI 60.

[0069] For clarity, the following provides a stepwise presentation of leveling a site using the second exemplary embodiment of the modular system described above. While described as stepwise, the actual order of steps may be varied. The method includes:• select at least two modular devices 20• activate the modular system using GUI 60, GUI 60 is displayed on a tablet, smart phone, PC or other similar device, the tablet, smart phone, PC displaying GUI 60 is connected and is part of a mesh system which includes modular devices 20• the modular system automatically connects with each modular device 20 and connects modular devices 20 to one another• following instructions displayed by GUI 60 associate each modular device 20 with its designated role, i.e. secondary modular device 20 located at anchor reference location 100 or primary modular device 20 located on an earth working machine• The operator can identify each physical modular device 20 by interacting with its icon 93 in GUI 60 (which triggers a light, sound, or haptic cue on the real-world device) or by picking up modular device 20, causing the corresponding icon 93 on GUI 60 to wiggle or highlight as represented by icon 93a in FIG. 9A.• The operator then drags and drops icon 93 of each identified modular device 20 to the appropriate role (e.g., fixed reference anchor role identifier 111 and primary modular device 20 secured to the earth working device identifier 113) in GUI 60.• the operator places each modular device 20 in its required physical location (for example, one modular device 20 remains stationary as the anchor, while another modular device 20 is attached to an implement) as instructed by GUI 60, at least one device attached to the implement is primary modular device 20• using GUI 60 the operator indicates desired site characteristics for final site• upon entry of desired site characteristics, GUI 60 directs first or second modular device 20 to assume primary modular device 20 operations• the operator monitors earthwork operations using• one modular device 20 is stationary at anchor reference location 100 and provides a weather reference point for the other modular device(s) 20• during earthwork operations each modular device 20 generates data for temperature and pressure sensor and inertial motion sensor data of yaw, pitch and roll• each modular device 20, stationary and mobile, performs calculations to generate barometric pressure, temperature, yaw, pitch and roll. o To provide improved accuracy, each modular device 20 may have at least three pressure sensors 22 and three temperature sensors 24.■ Each sensor outputs data to an internal Extended Adaptive Kalman Filter, which is part of ambient sensor array filter 30 of modular device 20. Extended Adaptive Kalman Filter 32 filters out data noise to produce a single value for barometric pressure and a single value for temperature, fused from each of the three pressure sensors 22 and three temperature sensors 24 respectively.■ The latest predicted data being transmitted is used to modulate the influence exerted by each of the ambient sensors in the array on Extended Adaptive Kalman filter 32.Predicted data is provided by the Extended Adaptive Kalman Filter 32. Extended Adaptive Kalman Filter 32 uses raw data for pressure and temperature and predicts what the new set of data should be.The “predicted data” also referred to as the “predicted state” is an artifact of the Extended Adaptive Kalman Filter 32 that is used only within Extended Adaptive Kalman Filter 32.■ Modulation is achieved by calculating the innovation of each sensor’ s value compared the predicted value from the Extended Adaptive Kalman fdter 32. The innovations from each sensor are converted to a weighted average based on each sensor’s individual innovation compared to the total innovation across all sensors.■ The weighted averages are mapped to new measurement noise coefficients within a designated, bounded, range.■ Thus, Extended Adaptive Kalman filter 32 is modulated to favor the sensors that tend to agree more and favoring the sensors that do not less.■ The output from the Extended Adaptive Kalman filter 32, is fed into a low- pass DSP filter such as a Butterworth filter to further attenuate high- frequency noise■ If the modular device 20 has been calibrated, the low pass DSP filter output is multiplied by the stored calibration multiplier before transmission, ensuring each sensor’s data is accurately adjusted o Each modular device 20 has a single IMU 24. o Each IMU 24 outputs pitch, roll and yaw data to individual DSP Filters 42, 44, 46, which are part of IMU filter array 40 of the modular device 20. The filters remove data noise to produce a single value for each of pitch, roll and yaw. o The filtered data is provided to primary modular device 20 via the mesh network.• Primary modular device 20 performs the telemetry calculations of box 50 necessary to identify the current state of the earthwork relative to the desired final state.• Primary modular device 20 transmits the telemetry calculations to GUI 60 for display in a numerical and visual manner which allows the operator to adjust the work being performed on the site.• Modular devices 20 continue collecting and reporting data in real-time to primary modular device 20 which continuously transmits updated data and imagery to GUI 60.

[0070] Other embodiments of the present invention will be apparent to one skilled in the art. As such, the foregoing description merely enables and describes the general uses and methods of the present invention. Accordingly, the following claims define the true scope of the present invention.

Claims

What is claimed is:

1. An earth working system comprising: a display device, the display device having graphic user interface with input operations and a display; a first modular device and at least a second modular device; each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit; a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array filter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface.

2. The earth working system of claim 1, further comprising: a digital memory component configured to be in data communication with the at least one pressure sensor, the at least one temperature sensor, the inertial measurement unit, the ambientsensor array filter, the inertial measurement unit filter and to receive data provided via the graphic user interface: and, the wireless communications component configured to provide communication between each modular device, wherein the wireless communication component is selected from the group consisting of a Wi-Fi transceiver and a Bluetooth transceiver.

3. The earth working system of claim 1, wherein the first digital signal processing filter is an Extended Adaptive Kalman filter, Butterworth, Chebyshev low-pass filter, median low-pass filters.

4. The earth working system of claim 1, wherein the second digital signal processing filter is simple Kalman filter, Butterworth, Chebyshev low-pass filter, median low-pass filters.

5. The earth working system of claim 1, wherein the inertial measurement unit comprises: an accelerometer; a magnetometer; and, a gyroscope.

6. The earth working system of claim 1, wherein the ambient sensor array filter further comprises a third digital signal processing filter.

7. The earth working system of claim 6, wherein the ambient sensor array filter further comprises a calibration multiplier operation configured to provide a scaling factor for adjusting the value provided by the first digital signal processing filter.

8. The earth working system of claim 7, wherein the first digital signal processing filter is an Extended Adaptive Kalman filter, Butterworth, Chebyshev low-pass filter, median low-pass filters.

9. The earth working system of claim 7, wherein the second digital signal processing filter is a simple Kalman filter, Butterworth, Chebyshev low-pass filter, median low-pass filters.

10. The earth working system of claim 6, wherein the third digital signal processing filter is a Butterworth filter.

11. The earth working system of claim 1, wherein the modular device has three pressure sensors and three temperature sensors.

12. A method for performing earth work at a site comprising: providing a modular system comprising at least a first modular device 20 and a second modular device 20, a display device 5, the display device having a GUI 60;each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit; a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array filter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface; activating the modular system 10 using GUI 60; selecting the first modular device by activating the inertial measurement unit within the first modular device thereby identifying the first modular device to the processor; placing the first modular device at a predetermined location as identified by the GUI; placing the second modular device at a predetermined location as identified by the GUI; entering desired earth work activity using the GUI into the modular system; initiating earth work activity; monitoring earth work activity using the GUI.

13. A method for performing earth work at a site comprising: providing a modular system comprising at least a first modular device 20 and a second modular device 20, a display device 5, the display device having a GUI 60; each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit; a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array filter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filter configured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface; activating the modular system 10 using GUI 60; displaying instructions on the GUI for assigning a role to the first modular device and assigning a role to the second modular device;selecting a first icon representing the first modular device on the GUT and moving the first icon to a designated location on the GUI thereby assigning the first modular device to serve as an anchor reference; selecting a second icon representing the second modular device on the GUI and moving the second icon to a designated location on the GUI thereby assigning the second modular device to serve as a primary modular device located on an earth working machine; placing the first modular device at an anchor reference location on the work site; placing the second modular device on the earth working machine; entering desired earth work activity using the GUI into the modular system; initiating earth work activity; monitoring earth work activity using the GUI.

14. A method for performing earth work at a site comprising: providing a modular system comprising at least a first modular device 20 and a second modular device 20, a display device 5, the display device having a processor and a GUI 60; each modular device includes: at least one pressure sensor; at least one temperature sensor; an inertial measurement unit; a processor; a wireless communications component; programming configured to perform: data filtering operations, telemetry calculation operation, operation of the at least one pressure sensor, operation of the at least one temperature sensor, operation the inertial measurement and operation of the wireless communications component through the operation of the processor; wherein the data filtering operations include: an ambient sensor array filter configured as a first digital signal processing filter, the first digital signal processing filter configured to receive data from the temperature sensor and the pressure sensor and to fuse the received data to provide a first set of fused data; an inertial measurement unit filter configured as a second digital signal processing filter, the second digital signal processing filterconfigured to filter data received from the inertial measurement unit to provide a first set of filtered inertial measurement data; wherein the telemetry calculation operation is configured to receive the first set of fused data and the first set of filtered inertial measurement data; and, wherein the telemetry calculation operation is further configured to provide an output to the graphic user interface; activating the modular system 10 using GUI 60; upon activation, the modular system 10 automatically connects each modular device 20 to one another to form a mesh network; selecting a first modular device 20 by activating the IMU 26 within the first modular device, the first modular device providing instructions for display on the GUI; placing the first modular device at a location determined by the GUI; selecting a second modular device 20 by activating the IMU of the second modular device; placing the second modular at a location determined by the GUI; using GUI 60 indicate desired site characteristics of elevation and level; designate either the first or second modular device as a primary modular device thereby designating which modular device performs telemetry calculations the other modular devices being designated secondary devices and the primary device and all secondary modular devices are connected via the mesh network; continuously monitoring earthwork operations directed to leveling the site using the first and second modular devices, where one modular device 20 is stationary and provides a weather reference point for the other modular devices 20 which are carried by earthwork machines; during earthwork operations each modular device 20 generates sensor and inertial motion sensor data; each modular device 20 performs calculations to generate barometric pressure, temperature, yaw, pitch and roll data wherein: each temperature and pressure sensor outputs data to the extended adaptive Kalman Filter 32 which filters out data noise to produce a single value for barometric pressure and a single value for temperature; during the processing of each ambient sensor sample data the Kalman filter 32 produces a new estimation of the predicted state;that predicted state is transmitted as the final representative data to the primary device; additionally, the latest predicted data being transmitted is used to modulate the influence exerted by each of the ambient sensors in the array on extended Kalman filter 32; modulation is achieved by calculating the innovation of each sensor’ s value compared the predicted value from the Kalman filter 32; the innovations from each sensor are converted to a weighted average based on each sensor’s individual innovation compared to the total innovation across all sensors; the weighted averages are mapped to new measurement noise coefficients within a designated, bounded, range; thus, extended Kalman filter 32 is modulated to favor the sensors that tend to agree more, and favoring the sensors that don’t less; each IMU outputs pitch, roll and yaw data to the simple Kalman Filters and the Kalman filters remove data noise to produce a single value for each of pitch, roll and yaw; each modular device provides the filtered data to the primary modular device 20 via the mesh network; primary modular device 20 performs the telemetry calculations relevant to the activity using the current state of each modular device 20, in accordance with their corresponding role in the activity, to indicate progress towards the desired target state using the following steps: storing data for: (a) a modular device 20 attached to an earth moving implement (b) a modular device 20 placed in a fixed location adjacent to the work area; displaying the pitch and roll of the earth moving implement carrying a modular device 20 using data from the inertial measuring unit 26; continuously displaying using the GUI the elevation of the earth moving implement carrying the modular device 20 adjacent to the desired target elevation; wherein the display of an accurate relative elevation measurement accounts for pressure drift due to weather by tracking pressure sensor data of fixed modular device 20 over time according to the following steps:the difference between the pressure measured by fixed modular device 20 on-the-fly, at a given point in time during the activity, and its recorded pressure at the start of the activity represents the amount of pressure drift caused by weather; subtraction of the calculated pressure drift from the on-the-fly pressure provided by modular device 20 on the earth moving implement provides a weather adjusted pressure reading; subtraction of the weather adjusted pressure reading for the earth moving implement from the target elevation pressure saved when the operator chose their desired site elevation provides the pressure difference between the earth moving implement and the desired target elevation pressure, delta pressure; convert delta pressure to delta elevation for display by GUI 60; conventional pressure to elevation equation can accept delta pressure and an average of temperature across all modular device 20 to return a delta elevation this provides the current elevation of the earth moving implement relative to the target elevation; once all telemetry metrics have been calculated, they are transmitted from the primary modular device to the processor of the display device for display by GUI 60; and,GUI 60 displays the telemetry metrics in numerical form as well as through the use of visuals thereby permitting an operator to adjust the work being performed on the site.

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