Abstract: A method and a system of determining a position of a mobile machine are disclosed. According to certain embodiments, the system may include a first sensor configured to generate a first signal indicative of a parameter of the mobile machine. The system may also include a second sensor configured to generate a second signal indicative of a pose of the mobile machine. The system may further include a controller in communication with the first and second sensors. The controller may be configured to generate one or more estimated poses of the mobile machine based on the first signal. The controller may further be configured to update each estimated pose with a fraction of a correction. The correction may be determined, based on the second signal, in a measurement update stage of a Kalman filter.

Abstract: A method and a system of determining a position of a mobile machine are disclosed. According to certain embodiments, the system may include a first sensor configured to generate a first signal indicative of a parameter of the mobile machine. The system may also include a second sensor configured to generate a second signal indicative of a pose of the mobile machine. The system may further include a controller in communication with the first and second sensors. The controller may be configured to generate one or more estimated poses of the mobile machine based on the first signal. The controller may further be configured to update each estimated pose with a fraction of a correction. The correction may be determined, based on the second signal, in a measurement update stage of a Kalman filter.

Abstract: A method and system for determining an alignment error between sensors mounted to a machine is disclosed. The method may include calculating a first orientation value based on a signal received from a first sensor. The method may further include calculating a second orientation value based on a signal received from a second sensor. The method may further include calculating an alignment error between the first sensor and the second sensor based on a difference between the first orientation value and the second orientation value.

Abstract: A method and system for determining an alignment error between sensors mounted to a machine is disclosed. The method may include calculating a first orientation value based on a signal received from a first sensor. The method may further include calculating a second orientation value based on a signal received from a second sensor. The method may further include calculating an alignment error between the first sensor and the second sensor based on a difference between the first orientation value and the second orientation value.

Abstract: A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.

Abstract: An inclination detection system is disclosed. The inclination detection system may have an inclination angle predictor configured to calculate an a priori estimated inclination angle of the machine based on a previously estimated inclination angle, and a measurement variance calculator configured to calculate a measurement variance of the a priori estimated inclination angle based on a non-gravitational acceleration of the machine. The inclination detection system may also have an inclination angle sensor configured to measure a measured inclination angle of the machine, and an inclination angle updater configured to determine an a posteriori estimated inclination angle of the machine based on the a priori estimated inclination angle, the measurement variance of the a priori estimated inclination angle, and the measured inclination angle.

Abstract: A machine navigation system and method for estimating velocity of a machine is disclosed. The method may include receiving, from an odometer, a first signal indicative of a distance traveled by the machine and calculating a scale factor to compensate for an error associated with the first signal. The method may further include determining whether a second signal indicative of a location of the machine is received by the machine and selectively adjusting the scale factor using machine parameters to generate an adjusted scale factor, where selectively adjusting may be performed based on whether the second signal is received by the machine. The method may further include estimating the velocity of the machine based on the first signal and the adjusted scale factor.

Abstract: An operational parameter determination system is disclosed. The operational parameter determination system may include an operational parameter predictor configured to calculate an a priori estimated operational parameter of the machine based on a previously estimated operational parameter. The operational parameter determination system may also include a gear shifting compensator configured to determine whether a gear shifting is in progress, and when the gear shifting is in progress, to output the a priori estimated operational parameter as a determined operational parameter.

Abstract: A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.

Abstract: A machine navigation system and method for estimating velocity of a machine is disclosed. The method may include receiving, from an odometer, a first signal indicative of a distance traveled by the machine and calculating a scale factor to compensate for an error associated with the first signal. The method may further include determining whether a second signal indicative of a location of the machine is received by the machine and selectively adjusting the scale factor using machine parameters to generate an adjusted scale factor, where selectively adjusting may be performed based on whether the second signal is received by the machine. The method may further include estimating the velocity of the machine based on the first signal and the adjusted scale factor.

Abstract: An operational parameter determination system is disclosed. The operational parameter determination system may include an operational parameter predictor configured to calculate an a priori estimated operational parameter of the machine based on a previously estimated operational parameter. The operational parameter determination system may also include a gear shifting compensator configured to determine whether a gear shifting is in progress, and when the gear shifting is in progress, to output the a priori estimated operational parameter as a determined operational parameter.

Abstract: An inclination detection system is disclosed. The inclination detection system may have an inclination angle predictor configured to calculate an a priori estimated inclination angle of the machine based on a previously estimated inclination angle, and a measurement variance calculator configured to calculate a measurement variance of the a priori estimated inclination angle based on a non-gravitational acceleration of the machine. The inclination detection system may also have an inclination angle sensor configured to measure a measured inclination angle of the machine, and an inclination angle updater configured to determine an a posteriori estimated inclination angle of the machine based on the a priori estimated inclination angle, the measurement variance of the a priori estimated inclination angle, and the measured inclination angle.

Abstract: A system for determining a position of a machine within a job site comprises at least one position monitoring device configured to collect information indicative of a location of the machine and a processor, communicatively coupled to the at least one position monitoring device. The processor is configured to estimate a location of the machine based on the received information using a first positioning technique. The processor is also configured to determine a first error value associated with the estimated location of the machine and compare the first error value with a threshold error level. If the first error value exceeds the threshold error level, the processor is configured to receive second information indicative of the location of the machine and determine the location of the machine based on the received second information, wherein the location of the machine is determined using a second positioning technique.