Pulled Implement Tracking Using Vehicle GNSS and IMU Fusion
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Solution Overview
Problem
Existing methods for accurately tracking the position of pulled agricultural implements are either expensive due to the need for high-precision GNSS systems or require complex sensor designs that are not widely applicable across different vehicle and implement combinations.
Innovation Solution
A method and system that utilize an inertial measurement unit on the implement, leveraging the existing GNSS system on the towing vehicle, to calculate a highly accurate position and orientation of the implement by projecting the vehicle's position to a connection point and combining it with inertial sensor data using an extended Kalman filter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a GNSS system is mounted on the pulled implement, then a globally referable position is provided, but the position estimate accuracy deteriorates due to tilt and roll errors when mounted higher on the implement
Solution Approach 1:
The patent uses the vehicle's GNSS system as an intermediary to obtain position data, which is then projected to the implement's connection point. This eliminates the need for a separate GNSS system on the implement while maintaining position tracking capability. The vehicle GNSS serves as a mediator between the implement and the global reference frame.
Solution Approach 2:
The patent replaces the mechanical/sensor-based solution (mounting GNSS directly on the implement) with a computational approach (projecting vehicle GNSS position to the connection point using transformation matrices). This substitution eliminates tilt and roll errors by avoiding physical mounting on the moving implement.
2Measurement precision
If an angular sensor is placed at the connection point to calculate implement position, then position can be derived from vehicle position and angle, but the sensor design becomes too complex and specific to various vehicle-implement combinations
Solution Approach 1:
The patent creates a universal solution that works across different vehicle-implement combinations by using a standardized coordinate transformation approach. The transformation matrix method is generic and can be applied to any pulled implement configuration, eliminating the need for custom angular sensors for each specific combination.
Solution Approach 2:
The patent replaces the physical angular sensor with a computational transformation of the vehicle's GNSS position data. This substitution eliminates the need for specialized mechanical sensors while maintaining the ability to calculate implement position, making the solution universally applicable.
3Measurement precision
If high accuracy GNSS (RTK) is used on the implement, then high precision positioning is achieved, but the system cost increases significantly
Solution Approach 1:
The patent creates a virtual copy of the GNSS position at the implement's connection point by projecting the vehicle's GNSS position through coordinate transformations. This virtual position copy provides the necessary positioning data without requiring expensive RTK hardware on the implement.
Solution Approach 2:
The patent uses the existing, relatively inexpensive vehicle GNSS system instead of expensive RTK equipment on the implement. By reusing the vehicle's positioning infrastructure, the solution achieves cost-effectiveness while maintaining adequate precision for most agricultural applications.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides accurate and cost-effective tracking of agricultural implements, enabling precise mapping, passive and active steering, and path planning, even in challenging conditions, without the need for specialized angular sensors at the vehicle-implement connection point.
Implementation Method 1
receiving inertial measurement data from an inertial measurement unit mounted on the agricultural implement
Implementation Method 2
calculating a position and orientation of the agricultural implement by computationally combining the projected position data at the connection point and the inertial measurement data from the inertial measurement unit
Data Source
AI summary
A method for tracking a position of an agricultural implement pulled by a vehicle includes receiving by a processing device position data of the vehicle from a global navigation satellite system (GNSS) receiver mounted on the vehicle, receiving by the processing device inertial measurement data from an inertial measurement unit mounted on the agricultural implement, projecting by the processing device the position data of the vehicle to a connection point between the vehicle and the agricultural implement based on predefined measurements between a known position on the vehicle and the connection point, determining by the processing device an initial heading of the agricultural implement based on a predetermined initialization procedure, and calculating by the processing device a position and orientation of the agricultural implement by computationally combining the projected position data at the connection point and the inertial measurement data from the inertial measurement unit.