Caterpillar Inc.

Nicholas Robert Vogel

Paul Russell Friend

Qi Chen

Andrew Whitten

Hong Chang

Frank Arthur Willis

Nolan Andrew Graves

Timothy A Evans

Salman Chikni

A system for determining movement characteristics of a mobile machine may comprise: a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine; an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine; and a controller configured to: receive (a) the velocity signal and (b) the acceleration and angular velocity signal; and using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.

Slip determining system and methods for a machine

A positioning system for generating pose information of a machine includes a primary positioning controller and a plurality of local positioning controllers coupled to the primary positioning controller. The primary positioning controller is configured to generate primary pose information of the machine. The primary pose information reflects an overall pose of the machine. Each of the local positioning controllers is configured to generate local pose information based on at least the primary pose information. The local pose information reflects a local pose of a portion of the machine corresponding to the local positioning controller.

Positioning system having a master-slave configuration

A machine navigation system includes a monitoring mechanism for monitoring configuration of an implement movable between configurations relative to a frame such that a center of mass of the machine moves in response to the moving of the implement. A second monitoring mechanism monitors track speed in the machine. A location of an origin of the track speed varies based upon location of the center of mass. A control unit is coupled with the monitoring mechanisms and structured to determine a control term for compensating for movement of a reference location on the machine relative to the track speed origin. The control unit further calculates velocity based on the track speed and the compensatory control term.

Machine and navigation control strategy including velocity calculation

A system for determining the position of a mobile machine is disclosed. The system may include a first sensor configured to generate a first signal indicative of a pose of the mobile machine, a second sensor configured to generate a second signal indicative of a parameter of the mobile machine, and a controller in communication with the first and second sensors. The controller may be configured to generate a measured pose of the mobile machine based on the first signal, to generate an estimated pose of the mobile machine based on the second signal, and to determine uncertainty values associated with each of the measured and estimated poses. The controller may be further configured to determine overlap of the uncertainty values, to selectively adjust the measured pose based on the overlap, and to determine a pose solution based on the estimated pose and adjustment of the measured pose.

Positioning system implementing multi-sensor pose solution

A system having a primary inertial measurement unit and a secondary inertial measurement unit configured to generate a primary position signal and a secondary position signal respectively is provided. The system also includes an error detection module communicably coupled to the primary inertial measurement unit and the secondary inertial measurement unit. The error detection module is configured to receive the primary position signal and the secondary position signal and detect if an out-range error is present in at least one of the primary position signal and the secondary position signal. The error detection module is also configured to detect if an in-range error is present in at least one of the primary position signal and the secondary position signal and determine an action to be performed based on the presence of at least one of the out-range error and the in-range error.

Growing community of inventors

Peoria, IL, United States of America

Nicholas Robert Vogel