Work Machine Positioning Detection for Straight Travel and Turning
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Solution Overview
Problem
Existing positioning systems for working machines, such as tractors and combine harvesters, face accuracy issues when transitioning from normal to low-speed states, particularly when using satellite navigation, inertial navigation, and Kalman filters, leading to inadequate positioning and direction output during straight travel and turning.
Innovation Solution
A positioning detection device that integrates satellite navigation, inertial navigation, and Kalman filter systems to calculate and output accurate positioning information based on the vehicle's state, including straight travel, turning, and stopping, using distinct calculation parts and an output mechanism tailored to each navigation method.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite navigation is used for positioning the working machine, then positioning can be performed over long distances, but positioning accuracy deteriorates when the working machine is in low speed state or during turning
Solution Approach 1:
The positioning system is segmented into multiple independent positioning units: satellite navigation unit, inertial navigation unit, and hybrid navigation unit. Each unit is activated based on the specific traveling state (straight travel, turning, low speed, stopping), ensuring accurate positioning across all conditions without compromising overall system adaptability
Solution Approach 2:
The system dynamically switches between different positioning methods based on real-time traveling state detection. The control unit adjusts the active positioning unit according to whether the vehicle is straight-traveling, turning, moving at low speed, or stopping, thereby maintaining high positioning accuracy across varying operational conditions
2Device complexity
If a single positioning method is used for all traveling states, then device complexity is reduced, but positioning accuracy deteriorates when transitioning between straight traveling and turning
Solution Approach 1:
The system merges satellite navigation, inertial navigation, and hybrid navigation units into a unified positioning system controlled by a central control unit. This integration allows seamless switching between different positioning methods during state transitions, maintaining high accuracy while managing complexity through centralized control logic
Solution Approach 2:
The positioning system dynamically adapts its configuration based on traveling state. The control unit detects transitions between straight travel, turning, low speed, and stopping states, and accordingly activates the most suitable positioning unit, ensuring continuous high accuracy without requiring all positioning systems to operate simultaneously
Data Source
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AI summary
A positioning detection device includes a first obtaining circuit to obtain a satellite signal, a second obtaining circuit to obtain a detection signal of an inertial device, a third obtaining circuit to obtain a traveling state of the vehicle body including straight-traveling and turning of the vehicle body, a first calculator to calculate first positioning information in satellite navigation system to which the satellite signal is applied, a second calculator to calculate second positioning information in inertial navigation system to which the detection signal is applied, a third calculator to calculate third positioning information in Kalman filter to which the first positioning information and the second positioning information are applied, and an output circuit to output the third positioning information when the third obtaining circuit obtains the straight-traveling and to output the first positioning information and/or the second positioning information when the third obtaining circuit obtains the turning.