Patent Document ID: 8571762
Application ID: 12812186
Patent Status: 1

Claim One:
1. A method of determining the global pose of a mining shovel, the mining shovel including: a machine shovel carbody substantially static between digging operations; a machine house that is mounted on the carbody and rotatable about a vertical axis relative to the carbody; a shovel assembly including a shovel handle and a bucket assembly, the shovel assembly being mounted to the machine house, and movable relative to the machine house; the method including: (a) as a first stage computing the location of the mining shovel carbody (c-frame) relative to a local geodetic frame (g-frame) using a global positioning system, an inclinometer, and a swing axis resolver; (b) as a second stage computing a house pose (h-frame) relative to the c-frame using a global positioning system, an axis inertial sensor and a swing axis resolver; (c) as a third stage computing a bucket pose (b-frame) relative to the h-frame using crowd and hoist axis resolvers.