Abstract: Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.

Abstract: A system for determining the elevation of a part of an implement, with the implement being attached to the ends of a pair of lift arms of a loader machine, includes a laser transmitter providing a reference beam of laser light. The beam may be a thin beam that is swept in a reference plane, or it may be a pair of fan shaped beams that are continuously rotated. A first beam detector is mounted on one of the pair of lift arms of the loader machine for detecting said reference beam and providing a first output. A second beam detector is mounted on the same lift arm and is spaced along the lift arm from the first beam detector for detecting the reference beam and providing a second output. A control circuit, responsive to the first beam detector and to the second beam detector, determines the elevation of the part of the implement based on the first and second outputs, and provides a projected implement elevation.

Abstract: A system for determining the elevation of a part of an implement, with the implement being attached to the ends of a pair of lift arms of a loader machine, includes a laser transmitter providing a reference beam of laser light. The beam may be a thin beam that is swept in a reference plane, or it may be a pair of fan shaped beams that are continuously rotated. A first beam detector is mounted on one of the pair of lift arms of the loader machine for detecting said reference beam and providing a first output. A second beam detector is mounted on the same lift arm and is spaced along the lift arm from the first beam detector for detecting the reference beam and providing a second output. A control circuit, responsive to the first beam detector and to the second beam detector, determines the elevation of the part of the implement based on the first and second outputs, and provides a projected implement elevation.

Abstract: Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.

Abstract: A method of monitoring the location, and the orientation of a machine element, and apparatus for monitoring and controlling the operation of the machine include a robotic total station and a plurality of targets in known positions relative to the machine element. The total station, located at a known location near the machine element, repeatedly, successively determines the location of each target. Acquisition and re-acquisition of the targets is aided by stored data regarding the prior locations and movements of the targets. Further, active targets may be used to facilitate re-acquisition. The operation of the machine is controlled based upon the location and orientation of the machine element.

Abstract: A method of monitoring the location, and the orientation of a machine element, and apparatus for monitoring and controlling the operation of the machine include a robotic total station and a plurality of targets in known positions relative to the machine element. The total station, located at a known location near the machine element, repeatedly, successively determines the location of each target. Acquisition and re-acquisition of the targets is aided by stored data regarding the prior locations and movements of the targets. Further, active targets may be used to facilitate re-acquisition. The operation of the machine is controlled based upon the location and orientation of the machine element.

Abstract: An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. An hydraulic actuator has an hydraulic cylinder pivotally connected to the dipper stick, and a piston rod pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing to a pulley system, and an extensible belt cable extending from the sheath through the pulley system to an end of the piston rod, provides an electrical output related to the extension of the belt cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder.

Abstract: An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. A hydraulic actuator has a hydraulic cylinder pivotally connected to the dipper stick, and a piston rod pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing to a pulley system, and an extensible belt cable extending from the sheath through the pulley system to an end of the piston rod, provides an electrical output related to the extension of the belt cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder.

Abstract: An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. An hydraulic actuator has an hydraulic cylinder pivotally connected to the dipper stick, and a piston pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing, and an extensible cable extending from the sheath, provides an electrical output related to the extension of the cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder. A clip secures the extensible cable to the piston.