An error correction device (34) is provided in a work vehicle and corrects an error based on a measured value of a sensor device provided with a GNSS sensor and a gyroscope sensor, the error correction device comprising: a first acquisition unit (341) that acquires a first signal from the GNSS sensor and a second signal from the gyroscope sensor; a velocity vector acquisition unit that acquires a velocity vector of the work vehicle in an own coordinate system measured by the GNSS sensor and an angular velocity in a sensor coordinate system measured by the gyro sensor, the sensor coordinate system having three axes based on the sensor device; a second acquisition unit (343) that acquires the steering amount of the work vehicle; a set position specifying unit (344) that specifies a set position on the basis of the acquired steering amount, the set position being set at a position different from that of the sensor device in the sensor coordinate system; and a velocity vector correction unit (347) that calculates the velocity vector of the work vehicle at the specified set position on the basis of the velocity vector of the work vehicle at the measurement position and the acquired angular velocity, and corrects the velocity vector of the work vehicle measured by the GNSS sensor.
本发明公开了一种误差修正装置(34),设于作业车辆,对基于传感器装置的测定值的误差进行修正,传感器装置具备GNSS传感器和陀螺仪传感器,误差修正装置包括:第一取得部(341),取得由GNSS传感器测定的自身坐标系中的作业车辆的速度矢量和由陀螺仪传感器测定的传感器坐标系中的角速度,传感器坐标系具有以传感器装置为基准的3个轴;第二取得部(343),取得作业车辆的转向量;设定位置确定部(344),基于取得的转向量确定设定位置,设定位置在传感器坐标系中被设定在不同于传感器装置的位置;以及速度矢量修正部(347),基于测定位置处的作业车辆的速度矢量和取得的角速度,算出确定的设定位置处的作业车辆的速度矢量,对由GNSS传感器测定的作业车辆的速度矢量进行修正。
Error correction device
误差修正装置
2022-10-25
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
ANGLE ERROR CORRECTION DEVICE AND ANGLE ERROR CORRECTION METHOD FOR POSITION DETECTOR
European Patent Office | 2021
|European Patent Office | 2022
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