Patent ID: 8145391

Claim:
A method for controlling a dozer blade mounted on a dozer body, the method comprising the steps of: receiving first measurements from at least one global navigation satellite system sensor mounted on the dozer blade, the first measurements comprising measurements of an elevation of the dozer blade and a vertical velocity of the dozer blade; receiving second measurements from a plurality of inertial sensors mounted on the dozer blade, the second measurements comprising at least one of: a first acceleration measurement of the dozer blade along a first orthogonal axis; a second acceleration measurement of the dozer blade along a second orthogonal axis; a third acceleration measurement of the dozer blade along a third orthogonal axis; a first angular velocity measurement of the dozer blade about the first orthogonal axis; a second angular velocity measurement of the dozer blade about the second orthogonal axis; and a third angular velocity measurement of the dozer blade about the third orthogonal axis; calculating, based at least in part on the first measurements and the second measurements, compensation of a tangential acceleration and compensation of at least one centripetal acceleration arising from at least one circular motion of the dozer body; and controlling the elevation of the dozer blade and a slope angle of the dozer blade based at least in part on the first measurements, and the second measurements, the compensation of the tangential acceleration, and the compensation of the at least one centripetal acceleration.