Dynamic stabilization and control of an earthmoving machine

A method for operating a machine comprising the steps of:

• determining a current state of the machine using data from sensors mounted on said machine;
• predicting a future state of the machine using said current state and filtered position information from a prior epoch;
• calculating a reduced error state using said determined state and said predicted state;
• calculating a delay compensated state of the machine using said reduced error state;
• calculating control signals for at least one operational element of said machine using said delay compensated state;
• and
• applying said control signals to said at least one operational element.

A method for controlling a machine comprising a first and second satellite antenna mounted in a longitudinal direction on said machine and connected to a satellite receiver, a third satellite antenna attached to an operational element of said machine and connected to a satellite receiver, a gravity reference sensor, a plurality of gyroscopes mounted to said machine, and a computer processor for processing data received from said satellite receivers, gravity reference sensor;

• and said plurality of gyroscopes, said method comprising the steps of:
• determining a current state of the machine;
• predicting a future state of the machine using said current state and position information from a prior epoch;
• calculating a reduced error state utilizing said determined state and said predicted state;
• calculating a delay compensated state of the machine;
• calculating control signals for said operational element of said machine;
• and
• applying said control signals to said operational element.

A computer readable medium storing computer program instructions which are executable on a computer processor for implementing a machine control system, said computer program instructions comprising instructions defining the steps of:

• determining a current state of the machine using data from sensors mounted on said machine;
• predicting a future state of the machine using said current state and filtered position information from a prior epoch;
• calculating a reduced error state using said determined state and said predicted state;
• calculating a delay compensated state of the machine using said reduced error state;
• calculating control signals for at least one operational element of said machine using said delay compensated state;
• and
• applying said control signals to said at least one operational element.