ERROR CORRECTION APPARATUS - TOKYO KEIKI INC

Title:

ERROR CORRECTION APPARATUS

Document Type and Number:

WIPO Patent Application WO/2020/090863

Kind Code:

A1

Abstract:

An error correction apparatus 34 is for correcting an error of a measured value obtained by a sensor device that is provided to a work vehicle and that is provided with a GNSS sensor and a gyro sensor, and is provided with: a first acquisition unit 341 that acquires the vehicle position of the work vehicle on a local coordinate system, the position having been measured by the GNSS sensor, and acquires an angular velocity on a sensor coordinate system that has three axes and that uses the sensor device as a reference, the angular velocity having been measured by the gyro sensor; a coordinate transformation unit 345 that performs, on the basis of the acquired angular velocity, coordinate transformation on the relative position vector at a measurement position at which the sensor device is disposed in the sensor coordinate system, the vector having the starting point at a set position set at a different position from the sensor device, into a relative position vector on the local coordinate system; and a vehicle position correction unit 346 that corrects an error of the vehicle position measured by the GNSS sensor through calculation of the position vector Pa of the set position by using a formula: Pa=Ps-L, where the position vector of the set position with the origin of the local coordinate system being defined as the starting point is denoted by Pa, the position vector at the measurement position is denoted by Ps, and the relative position vector having undergone coordinate transformation is denoted by L.

Inventors:

YOSHIDA TOYOORI (JP)
ARAKANE HIROOMI (JP)
FUNAYAMA MASAYUKI (JP)
OKAMURA NOBUYUKI (JP)
UCHIDA AKINOBU (JP)
KAYA KAZUKI (JP)

Application Number:

PCT/JP2019/042504

Publication Date:

May 07, 2020

Filing Date:

October 30, 2019

Export Citation:

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Assignee:

TOKYO KEIKI INC (JP)

International Classes:

A01B69/00; B62D6/00; G05D1/02; B62D101/00; B62D103/00; B62D111/00; B62D113/00; B62D137/00

Domestic Patent References:

WO2014155893A1

2014-10-02

Foreign References:

JP2003303021A	2003-10-24
US20080086249A1	2008-04-10
US20090164067A1	2009-06-25
US20080195268A1	2008-08-14
JP2018120364A	2018-08-02

Other References: