Kalman filter for an autonomous work vehicle system
US10784841B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Mar 8, 2018 |
| Grant date | Sep 22, 2020 |
| Priority date | — |
| Expiry date | Nov 16, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0278
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control system for a work vehicle includes a controller, a processor, and a memory that causes the processor to receive, via a sensor assembly, sensor signals and convert the sensor signals into a plurality of entries of a full measurement vector. The memory devices causes the processor to determine a first state vector using IMU Kalman filter, update a first subset of entries the full state vector, determine a second state vector using a spatial positioning Kalman filter, update a second subset of entries the full state vector based on the second state vector, determine a third state vector using a vehicle Kalman filter, update a third subset of entries of the plurality of entries of the full state vector based on the third state vector, and control movement of the work vehicle based on at least one of the first state vector, the second state vector, the third state vector, and the full state vector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.