Abstract: A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.

Abstract: Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.

Abstract: GNSS timing receiver with synchronization of raw GNSS measurements to an external timescale. Synchronization is achieved by using a hardware Time Interval Measurement Unit (TIMU). The TIMU measures time intervals between two pulse signals and makes additional processing of these measurements. The first pulse signal is generated inside the GNSS receiver. The second pulse signal is the external pulse signal generated by an external time reference device. This time interval is used to control the time instant when the output GNSS measurement will be taken. In the first embodiment all actual GNSS measurements are physically taken at time instants indicated by external pulse signal. These measurements are used as output GNSS measurements. In another embodiment all actual GNSS measurements are taken at their default time instants indicated by internal pulse signal. But output GNSS measurements are calculated at the time instants indicated by the external pulse signal.

Abstract: GNSS timing receiver with synchronization of raw GNSS measurements to an external timescale. Synchronization is achieved by using a hardware Time Interval Measurement Unit (TIMU). The TIMU measures time intervals between two pulse signals and makes additional processing of these measurements. The first pulse signal is generated inside the GNSS receiver. The second pulse signal is the external pulse signal generated by an external time reference device. This time interval is used to control the time instant when the output GNSS measurement will be taken. In the first embodiment all actual GNSS measurements are physically taken at time instants indicated by external pulse signal. These measurements are used as output GNSS measurements. In another embodiment all actual GNSS measurements are taken at their default time instants indicated by internal pulse signal. But output GNSS measurements are calculated at the time instants indicated by the external pulse signal.

Abstract: A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.

Abstract: An algorithm for determining of a vehicle orientation based on a coherent processing of GNSS signals received by three spaced antennas and a special GNSS receiver for implementing this algorithm are considered. The three antennas are logically combined into two pairs, with one of the antennas becoming common for both pairs. The GNSS receiver measures the first carrier phase difference between the signals received within each pair of antennas. The first differences of the full phases are represented as the sum of an integer number of periods of the carrier frequency and the fractional part of the period. Values of the fractional parts of the first differences are used to compute the orientation of the vector connecting the antennas phase centers within each pair. The use of the fractional parts of the first differences makes it possible to exclude the integer ambiguity resolution in carrier phase measurements.

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users.

Abstract: A method and device for calibration of a three-axis magnetometer that facilitates a more efficient and routine procedure by calibration of hard and soft iron errors of a 3D-magnetometer integrated into a mobile electronic device, and a set of operations for coprocessing measurements of the 3D-magnetometer and inertial sensors (e.g., a 3D-accelerometer and 3D-gyro), which can determine magnetic heading and attitude of the electronic device.

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users.

Abstract: A method and device for calibration of a three-axis magnetometer that facilitates a more efficient and routine procedure by calibration of hard and soft iron errors of a 3D-magnetometer integrated into a mobile electronic device, and a set of operations for coprocessing measurements of the 3D-magnetometer and inertial sensors (e.g., a 3D-accelerometer and 3D-gyro), which can determine magnetic heading and attitude of the electronic device.