가속도계와 와 고정밀 굴삭기 밀 GPS 를 기 버킷 이용한 정밀 위 한 3 차원 위치 추정 원 공간에 에서의

Translated title of the contribution: Precise bucket pin-point estimation of excavator in 3-dimensional by integration of accelerometers with RTK GPSs

Jiheon Kang, Pyung Ho Choi, Doo-Seop Eom

Research output: Contribution to journalArticle

Abstract

This paper describes a method for estimating the angle and position of each component of an excavator. In order to implement the guidance system in the excavator, two real-time kinematic (RTK) global positioning systems (GPSs) as well as pose and tilt sensors were used for precise pin-point estimation of bucket positioning. All devices except GPS were developed and calibrated by us. The sensor calibration procedures were presented in two parts before and after attaching the excavator. We have described three-dimensional global coordinate computation using the length and rotation angle of the body, arm, and bucket of the excavator. In addition, we have presented a method for the calculation of rotation according to the GPS receiver's attachment error and the estimation of the bucket angle through the sensor attached to the guide link. The experiments were performed by a certified institution, and our proposed system achieved state-of-the-art positioning error of less than 1 cm.

Original languageKorean
Pages (from-to)930-938
Number of pages9
JournalJournal of Institute of Control, Robotics and Systems
Volume24
Issue number10
DOIs
Publication statusPublished - 2018 Oct 1

Fingerprint

Point Estimation
Excavators
Global Positioning System
Accelerometer
Accelerometers
Global positioning system
Kinematics
Real-time
Angle
Sensor
Positioning
Sensors
Tilt
Guidance
Calibration
Receiver
Three-dimensional
Experiment
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

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title = "가속도계와 와 고정밀 굴삭기 밀 GPS 를 기 버킷 이용한 정밀 위 한 3 차원 위치 추정 원 공간에 에서의",
abstract = "This paper describes a method for estimating the angle and position of each component of an excavator. In order to implement the guidance system in the excavator, two real-time kinematic (RTK) global positioning systems (GPSs) as well as pose and tilt sensors were used for precise pin-point estimation of bucket positioning. All devices except GPS were developed and calibrated by us. The sensor calibration procedures were presented in two parts before and after attaching the excavator. We have described three-dimensional global coordinate computation using the length and rotation angle of the body, arm, and bucket of the excavator. In addition, we have presented a method for the calculation of rotation according to the GPS receiver's attachment error and the estimation of the bucket angle through the sensor attached to the guide link. The experiments were performed by a certified institution, and our proposed system achieved state-of-the-art positioning error of less than 1 cm.",
keywords = "Excavator, Machine-guidance, Pose and position estimation",
author = "Jiheon Kang and Choi, {Pyung Ho} and Doo-Seop Eom",
year = "2018",
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doi = "10.5302/J.ICROS.2018.18.0060",
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pages = "930--938",
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T1 - 가속도계와 와 고정밀 굴삭기 밀 GPS 를 기 버킷 이용한 정밀 위 한 3 차원 위치 추정 원 공간에 에서의

AU - Kang, Jiheon

AU - Choi, Pyung Ho

AU - Eom, Doo-Seop

PY - 2018/10/1

Y1 - 2018/10/1

N2 - This paper describes a method for estimating the angle and position of each component of an excavator. In order to implement the guidance system in the excavator, two real-time kinematic (RTK) global positioning systems (GPSs) as well as pose and tilt sensors were used for precise pin-point estimation of bucket positioning. All devices except GPS were developed and calibrated by us. The sensor calibration procedures were presented in two parts before and after attaching the excavator. We have described three-dimensional global coordinate computation using the length and rotation angle of the body, arm, and bucket of the excavator. In addition, we have presented a method for the calculation of rotation according to the GPS receiver's attachment error and the estimation of the bucket angle through the sensor attached to the guide link. The experiments were performed by a certified institution, and our proposed system achieved state-of-the-art positioning error of less than 1 cm.

AB - This paper describes a method for estimating the angle and position of each component of an excavator. In order to implement the guidance system in the excavator, two real-time kinematic (RTK) global positioning systems (GPSs) as well as pose and tilt sensors were used for precise pin-point estimation of bucket positioning. All devices except GPS were developed and calibrated by us. The sensor calibration procedures were presented in two parts before and after attaching the excavator. We have described three-dimensional global coordinate computation using the length and rotation angle of the body, arm, and bucket of the excavator. In addition, we have presented a method for the calculation of rotation according to the GPS receiver's attachment error and the estimation of the bucket angle through the sensor attached to the guide link. The experiments were performed by a certified institution, and our proposed system achieved state-of-the-art positioning error of less than 1 cm.

KW - Excavator

KW - Machine-guidance

KW - Pose and position estimation

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