Swing Boom Vertical-Axis Angle Estimation With Gyroscope Drift Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional gyroscopes used in swing boom excavators suffer from drift due to gyroscope bias, especially when joints are vertical or nearly vertical, and accelerometers are inadequate for correcting this bias.
Innovation Solution
An IMU-based system that utilizes sensor data from IMUs on the swing boom and the vehicle body to estimate swing angles, employing algorithms for kinematic angle estimation, rotation axis computation, and slope correction, and incorporates a Kalman filter to correct sensor data based on observed swing angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If gyroscopes are used to measure motion and determine angles between joints, then motion measurement capability is improved, but gyroscope bias causes drift and reduces measurement precision
Solution Approach 1:
The patent introduces an intermediary correction system that uses accelerometer data and gravity vector information as a mediator to correct gyroscope drift. The system processes accelerometer measurements through a correction algorithm that compensates for gyroscope bias, particularly effective when joints are vertical or nearly vertical. This intermediary correction mechanism resolves the contradiction by maintaining the gyroscope's motion measurement capability while eliminating its drift problem through external reference (gravity vector).
Solution Approach 2:
The system implements feedback by continuously monitoring accelerometer data and using it to generate correction terms that are fed back to adjust gyroscope measurements. The correction algorithm processes accelerometer measurements and feeds back bias correction values to the angle estimation process, creating a closed-loop system that maintains measurement accuracy over time by continuously compensating for drift.
2Measurement precision
If accelerometers are used to correct gyroscope bias, then drift correction capability is improved, but accelerometers are unable to sufficiently correct bias for vertical or nearly vertical joints
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the correction algorithm based on the joint's angular position. The system calculates the joint angle from accelerometer data and uses this angle information to modulate the correction term applied to gyroscope measurements. When joints are vertical or nearly vertical, the algorithm adjusts its parameters to maximize correction effectiveness, transforming the accelerometer's limited output into position-adaptive correction that resolves the contradiction between correction precision and joint position adaptability.
3Speed
If conventional gyroscopic systems are used, then motion measurement is achieved, but drift accumulates over time reducing long-term accuracy
Solution Approach 1:
The system implements continuity of useful action by establishing a continuous correction process that operates throughout the entire measurement period. Rather than periodic recalibration, the accelerometer-based correction algorithm continuously processes sensor data and applies real-time bias compensation to gyroscope measurements. This continuous corrective action maintains long-term measurement precision without interrupting the fast response capability of the gyroscope, resolving the contradiction between response speed and long-term accuracy.
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
Accurately estimates swing angles in swing boom excavators, reducing gyroscope bias and improving the precision of guidance and automatic positioning control systems.
Implementation Method 1
gyroscopes are used to measure motion and determine angles between joints of the boom
Implementation Method 2
Accelerometers may be used to correct for such drift
Implementation Method 3
the force output by the accelerometer remains the same even as the joint angle changes
Data Source
Figure 1
Figure 2
Figure 3
AI summary
Systems and methods for determining a swing angle of a swing boom of a vehicle are provided. Sensor data is received from sensors disposed on a swing boom and a body of a vehicle. It is determined whether the swing boom is static or moving relative to the body based on the sensor data. In response to determining that the swing boom is static, the received sensor data is corrected based on an observed swing angle and an estimated swing angle is calculated based on the corrected sensor data. In response to determining that the swing boom is moving, the estimated swing angle is calculated based on the received sensor data. The estimated swing angle is output.