Rotating Platform Yaw and Center-of-Rotation Determination
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Solution Overview
Problem
Conventional methods for determining the position and orientation of rotating platforms, such as excavators, require large rotations to initialize and track changes, which is inefficient and cumbersome.
Innovation Solution
The use of a Global Navigation Satellite System (GNSS) device and an Inertial Measurement Unit (IMU) to determine the yaw and center-of-rotation of rotating platforms through small rotations, allowing for continuous or periodic tracking without the need for extensive platform movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional curve fitting methods are used to determine position and orientation, then measurement precision can be achieved, but large platform rotations (100° or more) are required which increases loss of time and reduces productivity
Solution Approach 1:
The patent changes the measurement parameters from requiring large rotational movements to using small movements combined with IMU angular data. Instead of relying solely on multiple position measurements during large swings, the system uses position measurements during small movements and supplements them with inertial measurement unit data about angular changes, thereby reducing the time required for initialization while maintaining measurement precision
Solution Approach 2:
The patent introduces an inertial measurement unit (IMU) as an intermediary device that provides angular change information. This intermediary allows the system to determine orientation changes without requiring large platform rotations, bridging the gap between position measurements and orientation determination while reducing the time needed for initialization
2Measurement precision
If large platform rotations are performed for initialization, then position and orientation can be determined, but the complexity of operation increases and ease of operation deteriorates
Solution Approach 1:
The patent changes the operational parameters from requiring large platform rotations to using small movements combined with IMU data. This allows the system to determine yaw and center-of-rotation accurately without burdening the operator with complex large-scale maneuvers, thereby improving ease of operation while maintaining measurement precision
Solution Approach 2:
The patent substitutes the mechanical approach of large platform rotations with a combined sensor system using GNSS and IMU. Instead of relying on mechanical movement to generate measurement data, the system uses electronic sensors to capture position and angular information, replacing the need for complex mechanical operations and improving ease of use
3Measurement precision
If multiple position measurements during large swings are used, then curve fitting accuracy improves, but the quantity of substance (data points) required increases the complexity of the measurement process
Solution Approach 1:
The patent changes the measurement parameters from requiring multiple position measurements during large swings to using fewer position measurements during small movements supplemented by IMU angular data. This reduces the number of measurements needed while maintaining the accuracy required for curve fitting, thereby simplifying the measurement process
Solution Approach 2:
The patent segments the measurement process into two independent components: position measurements from GNSS and angular measurements from IMU. This segmentation allows each sensor to perform its specialized function, reducing the overall complexity of the measurement process while maintaining the precision needed for accurate curve fitting
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
Enables accurate determination and tracking of yaw and center-of-rotation with small rotations (5° to 15°), improving efficiency and simplifying user operation by eliminating the need for repeated large initialization steps.
Implementation Method 1
a measurement center of the GNSS device is disposed on the rotating platform away from a center-of-rotation of the rotating platform
Implementation Method 2
An inertial measurement unit (IMU) is used to measure a change in pitch, roll, and yaw of the rotating platform
Data Source
AI summary
Yaw and center-of-rotation of a platform are determined using a single Global Navigation Satellite System (GNSS) device and an inertial measurement unit (IMU). A measurement center of the GNSS device is disposed on the platform away from the center-of-rotation and arranged in a known spatial relationship with the center-of-rotation. The platform is rotated about the center-of-rotation between a first orientation and a second orientation. The IMU is used to determine a change in pitch, roll, and yaw of the platform between the first orientation and the second orientation. The GNSS device is used to determine a change in position of the measurement center of the GNSS device between the first orientation and the second orientation. The yaw of the platform is determined at the second orientation and the position of the center-of-rotation of the platform is determined in a global coordinate frame.