Inclination Angle Compensation for Dynamic Machine Operations
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Solution Overview
Problem
Existing inclination angle determination systems for machines are inaccurate for non-gravity induced accelerations and limited to small inclination angles, making them unsuitable for precise and safe operation on inclines, especially in autonomous or remotely controlled scenarios.
Innovation Solution
An inclination angle compensation system that includes a non-gravitational acceleration estimator and an inclination angle sensor corrector, using a combination of sensors and algorithms like Kalman filters to accurately calculate the inclination angle by accounting for non-gravitational accelerations and correcting sensor outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an accelerometer is used to determine inclination angle based on gravity acceleration, then the system is simple and easy to operate, but the measurement precision deteriorates for non-gravity accelerations and large inclination angles
Solution Approach 1:
The system segments the acceleration measurement into two distinct components: gravity-induced acceleration and non-gravity induced acceleration. By separating these components through sensor fusion (combining accelerometer data with GPS/velocity information), the system can accurately determine inclination angle even when non-gravity accelerations are present, resolving the measurement precision issue while maintaining operational simplicity
Solution Approach 2:
The system introduces an intermediary computational process that uses velocity information from GPS or other velocity sensors to estimate and compensate for non-gravity induced accelerations. This intermediary calculation allows the system to correct the raw accelerometer data and achieve accurate inclination measurements without adding complex hardware
2Device complexity
If equation (1) is used to calculate inclination angle, then the calculation is simple, but the measurement precision is limited to small inclination angles
Solution Approach 1:
The system changes the approach from using a simple trigonometric relationship (equation 1) that is only valid for small angles to a more general calculation method that accounts for the actual acceleration vector components. By incorporating velocity-derived acceleration compensation, the system extends the valid range of inclination angle measurement to all angles while maintaining reasonable computational complexity
3Adaptability or versatility
If non-gravity induced accelerations are present, then the machine can operate dynamically, but the measurement precision of inclination angle deteriorates
Solution Approach 1:
The system implements feedback by continuously monitoring velocity information and using it to estimate non-gravity induced accelerations. This feedback loop allows the system to dynamically compensate for acceleration effects during machine operation, maintaining accurate inclination angle measurements even when the machine is actively moving and subject to various forces
Data Source
AI summary
An inclination angle compensation system for determining an inclination angle of a machine is disclosed. The inclination angle compensation system may have a non-gravitational acceleration estimator configured to estimate a non-gravitational acceleration of a machine based on an estimated inclination angle and an acceleration output from a forward acceleration sensor. The inclination angle compensation system may also have an inclination angle sensor corrector configured to receive an inclination angle output from an inclination angle sensor, determine an inclination angle sensor acceleration based on the inclination angle output, and calculate a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration.