Method for State Estimation of Position and Orientation of a Plurality of Movable Modules of a Common System

Abstract

A method is for performing state estimation of position and orientation of a plurality of modules of a common system, which are movable relative to one another via joints, using inertial sensors that are arranged on the modules. At least one vector pair is determined, which represents kinematic relationships of at least one of the joints and of two of the modules connected to the at least one joint, and which is included in the state estimation.

1 . A method for state estimation of relative position and orientation of a plurality of modules of a common system, comprising:
 moving the modules of the plurality of modules relative to one another via a plurality of joints connecting the modules;   sensing the movement of the modules using inertial sensors arranged at the modules;   ascertaining at least one vector pair, which represents a kinematic relationship of at least one joint of the plurality of joints and two of the modules connected to the at least one joint; and   including the at least one ascertained vector pair in the state estimation.   
     
     
         2 . The method as claimed in  claim 1 , wherein the at least one ascertained vector pair, which represents the kinematic relationship of the at least one joint, corresponds to a same joint axis from a view of each of the two modules connected to the at least one joint. 
     
     
         3 . The method as claimed in  claim 1 , further comprising:
 ascertaining at least one second vector pair, which represents a further kinematic relationship of a measured joint angle from a view of a selected module of the two modules connected to the at least one joint,   wherein the at least one second vector pair specifies at least one axis of the selected module.   
     
     
         4 . The method as claimed in  claim 1 , further comprising:
 including the at least one vector pair when fusing sensor data of the inertial sensors arranged at the modules.   
     
     
         5 . The method as claimed in  claim 4 , further comprising:
 fusing the sensor data by filtering.   
     
     
         6 . The method as claimed in  claim 1 , wherein a computer program is configured to carry out the method. 
     
     
         7 . The method as claimed in  claim 6 , wherein the computer program is stored on a machine-readable storage medium. 
     
     
         8 . The method as claimed in  claim 1 , wherein an electronic controller is configured to estimate a relative position and orientation of the plurality of modules using the method. 
     
     
         9 . The method as claimed in  claim 1 , wherein:
 the method is used in a work machine, which comprises a multi-link, articulated arm, and   the modules correspond to links of the multi-link, articulated arm.