ORIENTATION ASSESSMENT METHOD, EQUIPMENT AND COMPUTER PROGRAMME MEDIUM Russian patent published in 2015 - IPC E02F3/84 G01C19/5776 

FIELD: instrumentation.

SUBSTANCE: invention relates to control of a working tool connected to the machine body, namely to assessment of orientation and displacement of the working tool of a bulldozer relative to the machine body. The invention proposes a method for assessment of orientation out of a variety of orientations of the controlled working tool connected to the machine body, which involves the following steps: obtaining an acceleration value of the machine body from an accelerometer installed on the machine body; obtaining an acceleration value of the working tool from an accelerometer installed on the working tool; calculation of assessment of the first vector of the state, which corresponds to the first instant of time out of a variety of instants of time; besides, assessment of the first vector of the state is based at least on the machine body acceleration value and the working tool acceleration value; and assessment of the first vector of the state includes vector presentation of the first orientation of the working tool relative to the machine body. The invention also proposes equipment for assessment of orientation of working equipment and a computer programme medium for implementation of the above method.

EFFECT: improvement of reliability and accuracy of determination of orientation and displacement of the bulldozer blade.

42 cl, 9 dwg