Machine Positioning Using Relative Pose Data Fusion
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Solution Overview
Problem
Conventional machine positioning systems do not effectively utilize relative pose information to refine and enhance the accuracy of absolute position measurements, leading to potential inaccuracies in machine control and operation.
Innovation Solution
A system that includes a locating device and a controller capable of receiving and processing relative pose information from another machine with lower uncertainty, allowing for the refinement of the absolute position estimate based on this information when the uncertainty of the first machine's position is higher.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional machines utilize only absolute position measurement systems (GNSS, DMI, IMU), then the positioning system is simple and independent, but the position accuracy is insufficient and cannot be refined
Solution Approach 1:
The patent combines absolute position measurement (from GNSS, DMI, or IMU) with relative pose measurement (from inter-machine sensors) into a unified positioning system. The controller integrates both measurement types to produce a refined position estimate, merging independent positioning approaches to overcome the limitations of each individual method.
Solution Approach 2:
The system implements feedback by using relative pose measurements from other machines to continuously refine and update the absolute position estimate. The controller receives relative position data, compares it with the absolute position, and adjusts the position estimate accordingly, creating a closed-loop feedback mechanism that improves accuracy over time.
2Measurement precision
If relative pose information from other machines is utilized to refine absolute position, then position accuracy is improved, but the system becomes more complex and requires additional communication protocols
Solution Approach 1:
The controller is designed with multi-functionality, serving both as an absolute position estimator and a relative pose integrator. It can operate independently using only absolute position measurements or collaborate with other machines by processing relative pose data, making the system adaptable to different operational scenarios and reducing the need for specialized dedicated components.
3Measurement precision
If machines operate independently without sharing position data, then system reliability is maintained through independence, but position accuracy cannot be enhanced through collaborative refinement
Solution Approach 1:
The communication system acts as an intermediary that enables information exchange between machines without requiring direct complex interactions. It transmits relative pose measurements and position estimates between machines and their controllers, facilitating collaborative positioning while maintaining the independence and reliability of individual machine systems.
Data Source
AI summary
A system and method for estimating a position of a machine is disclosed. The method may include determining a first position estimate and a first uncertainty measure of the first machine. The method may further include receiving, from a second machine, relative pose information determined by the second machine and a second uncertainty measure of the second machine. The method may further include determining that the first uncertainty measure is higher than the second uncertainty measure. The method may further include, in response to determining that the first uncertainty measure is higher than the second uncertainty measure, determining a second position estimate of the first machine based on the first position estimate and the relative pose information.