RTK Positioning Initialization for Work Machines
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Solution Overview
Problem
Real-time kinematic (RTK) positioning using global navigation satellite systems (GNSS) in work machines faces challenges with initialization processing, particularly when the distance between fixed and mobile stations is long or obstructed, leading to non-convergence of integer value bias calculations.
Innovation Solution
A positioning system for work machines that calculates the position of a satellite antenna based on a known reference point and outputs control commands for the GNSS receiver to execute initialization processing, reducing unknown variables and facilitating convergence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If RTK positioning initialization processing is performed using conventional methods, then positioning accuracy can be achieved, but the initialization processing fails to converge when the distance between fixed station and mobile station is long or when obstacles are present
Solution Approach 1:
The system performs preliminary action by calculating the antenna position based on working equipment position and posture before initiating RTK initialization processing. This pre-calculation provides an initial position estimate that helps the initialization algorithm converge more reliably, especially in challenging conditions such as long baselines or obstructed satellite views.
Solution Approach 2:
The system introduces an intermediary approach by using working equipment position and posture as intermediate variables to determine antenna position. Instead of directly relying on satellite signals alone for initialization, the system mediates through mechanical position data from sensors (encoders, inertial sensors) to establish a reliable initial position estimate that facilitates subsequent RTK convergence.
2Area of stationary object
If the distance between fixed station and mobile station is increased to expand work area, then coverage is improved, but initialization processing convergence becomes difficult
Solution Approach 1:
By pre-calculating antenna position using working equipment position and posture data before RTK initialization, the system provides a reliable starting point for the initialization algorithm. This preliminary position estimate remains valid even over long distances, enabling convergence in expanded work areas where conventional initialization would fail.
Solution Approach 2:
The system changes the approach by transitioning from pure satellite-based initialization to a hybrid method that incorporates mechanical position parameters (encoder readings, inertial sensor data) to determine antenna position. This parameter change enables reliable initialization over longer distances by reducing dependence on satellite signal geometry alone.
3Adaptability or versatility
If obstacles are present around the mobile station, then positioning environment becomes challenging, but satellite signal reception is blocked导致initialization processing cannot converge
Solution Approach 1:
The system uses working equipment position and posture data as intermediary information to determine antenna position when satellite signals are obstructed. By mediating through mechanical sensor data (encoders, inertial sensors), the system can establish initial position estimates even when direct satellite reception is blocked by obstacles.
Solution Approach 2:
The system performs preliminary position calculation using mechanical sensors before attempting RTK initialization with satellite signals. This preliminary action ensures that position determination can proceed even in obstructed environments where satellite signals alone would be insufficient for convergence.
Data Source
AI summary
There is provided a positioning system for a work machine using RTK positioning that uses a satellite positioning system, the positioning system including: a sensor controller that is a calculation unit that calculates a position of an antenna, of the satellite positioning system, disposed in the work machine based on a position of working equipment, of the work machine, aligned with a known reference point PR positioned at a work site; and a monitor controller that is an initialization control unit that outputs a control command that causes a receiver, of the satellite positioning system, that performs positioning calculation by the RTK positioning to execute initialization processing of the positioning calculation in which an integer value bias of each satellite and the position of the antenna of the satellite positioning system are unknown, by using the calculated position of the antenna of the satellite positioning system.