Patent ID: 7139651
Filing Date: 2006-11-21
Classification: E02F,E21C,G01S

Abstract:
1. A method for determining a position and an orientation of a work machine having a known geometry comprising the following steps: (a) obtaining spatial coordinates of a point of reference on the work machine from a three-dimensional global positioning system unit; (b) obtaining planar coordinates of said point of reference on the work machine from a two-dimensional global positioning system unit; (c) processing the spatial coordinates and the planar coordinates from said global positioning system units in a first data fusion procedure to produce an improved position estimate of said point of reference; (d) obtaining an orientation of the work machine from the two-dimensional global positioning system unit; (e) obtaining pitch and roll of the work machine from an attitude sensor; (f) calculating a position and an orientation of critical work-machine components utilizing the improved position estimate of the point of reference, the orientation, the pitch, the roll and the known geometry of the work machine; and (g) repeating steps (a)–(f) at predetermined time intervals to update said position and orientation of the critical work-machine components.