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A platform for research: civil engineering, architecture and urbanism
ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS
Abstract ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS A method for estimating a yaw (510) (or heading) of a rotating body (102) of a machine (100) is disclosed. The method may include obtaining measurements related to a velocity (410) of a global navigation satellite system (GNSS) antenna (212) coupled to the rotating body (102) based on a motion state associated with the machine (100) satisfying one or more conditions, calculating a first unit vector of a lever arm (310) from a rotation axis (104) to the GNSS antenna (212), and calculating a second unit vector orthogonal to the one or more measurements related to the velocity (410) of the GNSS antenna (212) in a direction towards the rotation axis (104), e.g., based on a velocity (410) of another GNSS antenna (212) coupled to the rotating body (102) and/or a yaw rate measurement obtained by an inertial measurement unit (214). Accordingly, the yaw (510) of the rotating body (102) may be estimated based on a rotation angle between the first unit vector and the second unit vector. 1/6 19-0203AU01 0l
ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS
Abstract ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS A method for estimating a yaw (510) (or heading) of a rotating body (102) of a machine (100) is disclosed. The method may include obtaining measurements related to a velocity (410) of a global navigation satellite system (GNSS) antenna (212) coupled to the rotating body (102) based on a motion state associated with the machine (100) satisfying one or more conditions, calculating a first unit vector of a lever arm (310) from a rotation axis (104) to the GNSS antenna (212), and calculating a second unit vector orthogonal to the one or more measurements related to the velocity (410) of the GNSS antenna (212) in a direction towards the rotation axis (104), e.g., based on a velocity (410) of another GNSS antenna (212) coupled to the rotating body (102) and/or a yaw rate measurement obtained by an inertial measurement unit (214). Accordingly, the yaw (510) of the rotating body (102) may be estimated based on a rotation angle between the first unit vector and the second unit vector. 1/6 19-0203AU01 0l
ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS
GRAVES NOLAN A (author)
2021-01-28
Patent
Electronic Resource
English
ESTIMATING YAW OF ROTATING BODY USING VELOCITY MEASUREMENTS
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