Abstract: 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.

Abstract: A method for collision threat filtering is disclosed. The method may include determining trajectory information associated with a plurality of machines. The method may include identifying, based on the trajectory information, one or more potential collisions among the plurality of machines, the one or more potential collisions including a potential collision between a first machine, of the plurality of machines, and a second machine of the plurality of machines. The method may include determining whether to filter the potential collision between the first machine and the second machine. Whether the potential collision is filtered may be determined based on a set of filtering parameters and machine information associated with at least one of the first machine or the second machine. The method may include selectively performing a collision prevention action, associated with the potential collision, based on whether the potential collision is to be filtered.

Abstract: A propulsion and collision avoidance system is associated with a machine operating on the ground, and is configured to determine whether a collision will occur based upon the pose and movement of the machine and the pose of the obstacle. The slope of a straight line between the machine and the obstacle is determined based upon the pose of the machine and the pose of the obstacle, and the slope of the straight line is compared to a slope threshold. A collision alert is generated after determining that a collision will occur and when the slope of the straight line is less than the slope threshold, and continuing propulsion commands are generated to propel the machine along the work surface after determining that a collision will occur and when the slope of the straight line is greater than the slope threshold.

Abstract: 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.

Abstract: A propulsion and collision avoidance system is associated with a machine operating on the ground, and is configured to determine whether a collision will occur based upon the pose and movement of the machine and the pose of the obstacle. The slope of a straight line between the machine and the obstacle is determined based upon the pose of the machine and the pose of the obstacle, and the slope of the straight line is compared to a slope threshold. A collision alert is generated after determining that a collision will occur and when the slope of the straight line is less than the slope threshold, and continuing propulsion commands are generated to propel the machine along the work surface after determining that a collision will occur and when the slope of the straight line is greater than the slope threshold.

Abstract: A method for collision threat filtering is disclosed. The method may include determining trajectory information associated with a plurality of machines. The method may include identifying, based on the trajectory information, one or more potential collisions among the plurality of machines, the one or more potential collisions including a potential collision between a first machine, of the plurality of machines, and a second machine of the plurality of machines. The method may include determining whether to filter the potential collision between the first machine and the second machine. Whether the potential collision is filtered may be determined based on a set of filtering parameters and machine information associated with at least one of the first machine or the second machine. The method may include selectively performing a collision prevention action, associated with the potential collision, based on whether the potential collision is to be filtered.

Abstract: A system for determining movement characteristics of a mobile machine may comprise: a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine; an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine; and a controller configured to: receive (a) the velocity signal and (b) the acceleration and angular velocity signal; and using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.

Abstract: A control system for a machine includes multiple sensors coupled to multiple parts on the machine. The multiple sensors generate data indicative of motion of the multiple parts of the machine. The control system includes a controller in communication with the multiple sensors. The controller receives the data indicative of motion of the multiple parts of the machine from the multiple sensors. The controller determines a segment of the work cycle being currently performed by the machine based on the data received by the multiple sensors, and multiple membership functions. The controller generates productivity data of the machine based on the determined segment of the work cycle. Furthermore, the controller displays the productivity data of the machine on a display system.