Work Vehicle Joint Orientation via Dual IMU Fusion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional approaches for determining the orientation of work vehicle implements, such as crawler dozers, face challenges with accuracy, noise, and sensor bias, particularly when using acceleration as a measure of gravity, which does not provide clear indications of heading or yaw.
Innovation Solution
The implementation of a machine control arrangement with a joint orientation system that utilizes two inertial measurement units (IMUs), one associated with the implement and one with the chassis or lift frame, to fuse measured accelerations and angular velocities, applying additional kinematic relationships and error corrections to improve orientation determination, potentially using filters like the Kalman filter or Newton-Raphson method.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If acceleration is used as a measure of gravity to determine implement orientation, then the system can operate with simpler sensor configuration, but the measurement precision deteriorates because acceleration does not provide clear indications of heading or yaw
Solution Approach 1:
The patent combines multiple sensor types (accelerometers and gyroscopes) into inertial measurement units (IMUs) positioned at multiple locations. By merging these sensors and fusing their data through a controller, the system achieves both compact configuration and improved orientation measurement precision through complementary sensor characteristics.
Solution Approach 2:
The patent introduces an intermediary processing layer (controller with sensor fusion algorithm) that mediates between the raw sensor data and the final orientation determination. This intermediary fuses acceleration and angular velocity data to compensate for the limitations of individual sensors, resolving the contradiction between simple configuration and precise measurement.
2Measurement precision
If multiple IMUs are positioned on opposite sides of the joint to improve measurement accuracy, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent segments the measurement system into multiple independent IMU units positioned at different locations (chassis and implement sides). Each IMU independently measures local orientation, and the controller integrates these segmented measurements to determine the overall joint orientation, achieving improved precision through distributed sensing.
Solution Approach 2:
The controller continuously processes data from multiple IMUs and uses feedback loops to compare measurements, detect inconsistencies, and adjust the orientation calculation. This feedback mechanism allows the system to maintain high measurement precision while managing the complexity of multiple sensors through intelligent data fusion.
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
This approach enhances the accuracy and reliability of joint orientation determination, enabling more precise actuation commands for the implement, thereby improving the operation of work vehicles in various environments.
Implementation Method 1
a first inertial measurement unit (IMU) positioned on a first side of the work vehicle relative to the joint and configured to collect a first IMU acceleration and a first IMU angular velocity
Data Source
AI summary
A joint orientation system is provided for a work vehicle having a chassis and an implement coupled to the chassis at a joint. The joint orientation system includes a first IMU positioned on a first side of the work vehicle relative to the joint and configured to collect a first IMU acceleration and a first IMU angular velocity and a second IMU positioned on a second side relative to the joint and configured to collect a second acceleration and a second angular velocity of the implement. A controller is configured to receive the first and second IMU accelerations and the first and second IMU angular velocities; determine a joint orientation correction based on IMU accelerations and IMU angular velocities; modify an estimate of joint orientation with the joint orientation correction to generate a current joint orientation; and output the current joint orientation for actuation of the implement.