Excavator control architecture for generating sensor location and offset angle

Abstract

An excavator is disclosed including a chassis coupled to a boom point A, a sensor on a limb, an implement, an architecture, and a linkage assembly (LA) including a boom and a stick coupled to a boom point B. The architecture comprises one or more LA actuators and a controller that generates a sensor location ν and offset angle ϕ and is programmed to: pivot the limb (either the boom or stick) about a pivot point (respectively, A or B) and generate a set of sensor signals. The controller is programmed to repeatedly execute an iterative process n times until exceeding a threshold, which process comprises determining a sensor location estimate ν(a distance between the sensor and the pivot point) and an offset angle estimate ϕdefined relative to a limb axis. A utilized optimization model includes the set of sensor signals and error terms.