Positioning detection device and working machine having positioning detection device

A positioning detection device comprising:

• a first obtaining circuit disposed on a vehicle body having a working device or on the working device and configured to obtain a satellite signal from a navigation satellite;
• a second obtaining circuit to obtain a detection signal of an inertial device;
• a third obtaining circuit to obtain a traveling state of the vehicle body, the traveling state including at least straight-traveling of the vehicle body and turning of the vehicle body;
• a first calculator to calculate first positioning information in accordance with a satellite navigation system to which the satellite signal obtained by the first obtaining circuit is applied, the first positioning information being information on positioning;
• a second calculator to calculate second positioning information in accordance with an inertial navigation system to which the detection signal obtained by the second obtaining circuit is applied, the second positioning information being information on positioning;
• a third calculator to calculate third positioning information in accordance with a Kalman filter to which the first positioning information and the second positioning information are applied, the third positioning information being information on positioning;
• and
• a calculation setting circuit to perform calculation processes of the first calculator, the second calculator, and the third calculator, the calculation setting circuit being configured to
• perform the calculation process of the third calculator when the third obtaining circuit obtains the straight-traveling of the vehicle body, and
• stop the calculation process of the third calculator when the third obtaining circuit obtains the turning of the vehicle body and to start the calculation process of the first calculator and/or the calculation process of the second calculator.

A working machine comprising:

• a vehicle body;
• a working device disposed on the vehicle body;
• and
• a positioning detection device disposed on the vehicle body or the working device, the positioning detection device including:
• a first obtaining circuit disposed on the vehicle body having the working device or on the working device and configured to obtain a satellite signal from a navigation satellite;
• a second obtaining circuit to obtain a detection signal of an inertial device;
• a third obtaining circuit to obtain a traveling state of the vehicle body, the traveling state including at least straight-traveling of the vehicle body and turning of the vehicle body;
• a first calculator to calculate first positioning information in accordance with a satellite navigation system to which the satellite signal obtained by the first obtaining circuit is applied, the first positioning information being information on positioning;
• a second calculator to calculate second positioning information in accordance with an inertial navigation system to which the detection signal obtained by the second obtaining circuit is applied, the second positioning information being information on positioning;
• a third calculator to calculate third positioning information in accordance with a Kalman filter to which the first positioning information and the second positioning information are applied, the third positioning information being information on positioning;
• and
• an output circuit to
• output the third positioning information when the third obtaining circuit obtains the straight-traveling of the vehicle body, the third positioning information being calculated by the third calculator, and
• output the first positioning information and/or the second positioning information when the third obtaining circuit obtains the turning of the vehicle body, the first positioning information being calculated by the first calculator, the second positioning information being calculated by the second calculator.

A working machine comprising:

• a vehicle body;
• a working device disposed on the vehicle body;
• and
• a positioning detection device disposed on the vehicle body or the working device, the positioning detection device including:
• a first obtaining circuit disposed on the vehicle body having the working device or on the working device and configured to obtain a satellite signal from a navigation satellite;
• a second obtaining circuit to obtain a detection signal of an inertial device;
• a third obtaining circuit to obtain a traveling state of the vehicle body, the traveling state including at least straight-traveling of the vehicle body and turning of the vehicle body;
• a first calculator to calculate first positioning information in accordance with a satellite navigation system to which the satellite signal obtained by the first obtaining circuit is applied, the first positioning information being information on positioning;
• a second calculator to calculate second positioning information in accordance with an inertial navigation system to which the detection signal obtained by the second obtaining circuit is applied, the second positioning information being information on positioning;
• a third calculator to calculate third positioning information in accordance with a Kalman filter to which the first positioning information and the second positioning information are applied, the third positioning information being information on positioning;
• and
• a calculation setting circuit to perform calculation processes of the first calculator, the second calculator, and the third calculator, the calculation setting circuit being configured to
• perform the calculation process of the third calculator when the third obtaining circuit obtains the straight-traveling of the vehicle body, and
• stop the calculation process of the third calculator when the third obtaining circuit obtains the turning of the vehicle body and to start the calculation process of the first calculator and/or the calculation process of the second calculator.