GNSS Smoothing Control for Work Machine Position Error Recovery
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Solution Overview
Problem
Conventional position measurement systems for work machines experience errors in position and posture calculations due to deteriorating GNSS communication environments, requiring a prolonged time to correct these errors after the communication environment improves.
Innovation Solution
An electronic control device with a positioning quality determination section, traveling state determination section, and a smoothing section that adjusts smoothing intensity based on GNSS information quality and the work machine's state, allowing rapid error correction when the communication environment improves.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If strong smoothing processing is continuously applied to GNSS position data, then position display stability is improved, but error elimination time increases when communication environment improves
Solution Approach 1:
The patent applies dynamic adjustment of smoothing intensity based on GNSS communication environment quality. When communication quality is poor, strong smoothing is applied to stabilize position display. When communication quality improves, smoothing intensity is reduced or stopped, allowing rapid error elimination. This dynamic adaptation resolves the contradiction between maintaining stability and enabling quick error recovery.
Solution Approach 2:
The system changes the parameter of smoothing intensity based on communication environment assessment. By monitoring GNSS signal quality and adjusting the smoothing filter strength accordingly, the system transitions between different operational states: high smoothing for stability during poor communication, and low/smooth smoothing for rapid error correction when communication improves.
2Loss of time
If weak smoothing processing is applied to GNSS position data, then error elimination speed is improved, but position display stability deteriorates
Solution Approach 1:
The system dynamically switches between weak and strong smoothing based on real-time communication quality assessment. During poor communication periods, strong smoothing provides stability. When communication quality improves, the system transitions to weak or no smoothing, enabling rapid error elimination while maintaining stability through the transition management.
3Stability of the object's composition
If smoothing is applied during work machine movement, then position variations are suppressed, but followability of display deteriorates
Solution Approach 1:
The patent applies different smoothing intensities to different operational states of the work machine. When the machine is stationary, strong smoothing is applied to suppress position variations. When the machine is moving, smoothing intensity is reduced to maintain display followability and responsiveness to actual position changes, ensuring the display accurately reflects machine movement.
Data Source
AI summary
An electronic control device capable of suppressing variations in the position of a work machine calculated based on satellite signals received by a GNSS terminal due to changes in the GNSS communication environment, and eliminating the position error after improvement of the communication environment in a shorter time than before. The electronic control device determines whether the positioning quality is good or poor based on GNSS; information, determines the traveling state, including a stop state, based on the velocity of the work machine, and performs smoothing processing to the GNSS information. The processing intensity is changed to weak if the smoothing condition is not satisfied, the condition being that the positioning quality is good and the traveling state is stop, and the processing intensity is changed to strong after a time equivalent to update cycle since the smoothing condition has been satisfied.