Dual-Antenna Vehicle Direction Correction on Uneven Terrain
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Solution Overview
Problem
Conventional azimuth and posture measuring devices for work vehicles, such as dump trucks, face errors in antenna installation positions due to vibrations and uneven terrain, limiting their flexibility in detecting these errors, especially in mining and construction sites where straight movement is restricted.
Innovation Solution
A work vehicle equipped with a first and second antenna, a receiver for satellite positioning, sensors for velocity, acceleration, and angular velocity, and a control device that calculates and corrects the vehicle direction using a direction correction parameter, allowing for flexible detection of antenna installation errors across various traveling states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If antennas are installed on poles extending upward from the vehicle body to avoid radio wave blocking, then radio wave reception is improved, but antenna installation position errors occur due to vibration and impact during operation
Solution Approach 1:
The system performs preliminary measurement of the baseline vector between two antennas at multiple positions during vehicle operation. By collecting measurement data in advance under various conditions (vibration, impact, different terrains), the system builds a comprehensive dataset that accounts for installation position errors. This preliminary action enables the system to identify and correct errors without requiring perfect initial installation precision.
2Ease of operation
If the conventional azimuth measuring method is used that relies on straight movement on horizontal surfaces, then measurement simplicity is maintained, but detection flexibility is limited in mining and construction sites with uneven terrain
Solution Approach 1:
The system dynamically adapts the azimuth measurement method based on vehicle movement state. Instead of requiring fixed straight-line movement on horizontal surfaces, the system can perform measurements during various vehicle operations including turning, ascending/descending slopes, and navigating uneven terrain. The measurement conditions are made flexible and adaptive to actual working environments, allowing azimuth detection to proceed under diverse dynamic conditions while maintaining measurement accuracy through baseline vector calculations.
3Reliability
If antennas are mounted on poles extending from the vehicle body, then radio wave blocking by the vehicle body is avoided, but vibration and impact during loading and unloading cause errors in antenna installation positions
Solution Approach 1:
The system continuously monitors and measures the baseline vector between antennas at multiple positions during vehicle operation. By comparing measured baseline vectors with expected values and analyzing variations, the system provides feedback to identify installation position errors. This feedback mechanism enables real-time detection and correction of errors caused by vibration and impact, maintaining measurement precision despite the antennas being mounted on poles subject to mechanical stress.
Data Source
AI summary
The present disclosure provides a work vehicle that allows detecting an error in an installation position of an antenna more flexibly than a conventional device. The work vehicle includes a control device 150. The control device 150 has a detection function F106, a calculation function F104, a calculation function F105, a calculation function F107, and an estimation function F110. The detection function F106 detects steady traveling based on a velocity, an acceleration, and an angular velocity of a vehicle. The calculation function F104 calculates a first vehicle direction based on installation information of a first antenna and a second antenna with respect to the vehicle. The calculation function F105 calculates a second vehicle direction based on a time change of position information of the first antenna when the steady traveling is detected. The calculation function F107 calculates a direction correction parameter for correcting the first vehicle direction based on the second vehicle direction. The estimation function F110 estimates a location and a posture of the vehicle based on the direction correction parameter and the first vehicle direction.