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

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.