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Estimating yaw of rotating body using velocity measurements
A method for estimating a yaw (or heading) of a rotating body of a machine is disclosed. The method may include obtaining measurements related to a velocity of a global navigation satellite system (GNSS) antenna coupled to the rotating body based on a motion state associated with the machine satisfying one or more conditions, calculating a first unit vector of a lever arm from a rotation axis to the GNSS antenna, and calculating a second unit vector orthogonal to the one or more measurements related to the velocity of the GNSS antenna in a direction towards the rotation axis (e.g., based on a velocity of another GNSS antenna coupled to the rotating body and/or a yaw rate measurement obtained by an inertial measurement unit). Accordingly, the yaw of the rotating body may be estimated based on a rotation angle between the first unit vector and the second unit vector.
Estimating yaw of rotating body using velocity measurements
A method for estimating a yaw (or heading) of a rotating body of a machine is disclosed. The method may include obtaining measurements related to a velocity of a global navigation satellite system (GNSS) antenna coupled to the rotating body based on a motion state associated with the machine satisfying one or more conditions, calculating a first unit vector of a lever arm from a rotation axis to the GNSS antenna, and calculating a second unit vector orthogonal to the one or more measurements related to the velocity of the GNSS antenna in a direction towards the rotation axis (e.g., based on a velocity of another GNSS antenna coupled to the rotating body and/or a yaw rate measurement obtained by an inertial measurement unit). Accordingly, the yaw of the rotating body may be estimated based on a rotation angle between the first unit vector and the second unit vector.
Estimating yaw of rotating body using velocity measurements
GRAVES NOLAN A (author)
2022-03-29
Patent
Electronic Resource
English
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