A calibration framework comprising an earthmoving machine, a laser distance meter (LDM), and a plurality of laser reflectors, wherein:
- the earthmoving machine comprises a machine chassis, a linkage assembly, an earthmoving implement, and control architecture;
- the linkage assembly collectively defines a plurality of linkage assembly positions comprising a terminal pivot point B and a plurality of nodes;
- the LDM is configured to generate at least (i) an LDM distance signal DLDM indicative of a distance between the LDM and a laser reflector of the plurality of laser reflectors and (ii) an angle of inclination signal θINC indicative of an angle between the LDM and the laser reflector;
- the plurality of laser reflectors are disposed at respective positions corresponding to the plurality of nodes;
- the control architecture comprises one or more linkage assembly actuators and an architecture controller programmed to execute an iterative process at n linkage assembly positions, the iterative process comprising:
- positioning the linkage assembly at a linkage assembly position n;
- setting one of the plurality of nodes as the nth calibration node with the linkage assembly at the linkage assembly position n,
- determining a height Ĥ and a distance {circumflex over (D)} between the nth calibration node and the LDM based on the LDM distance signal DLDM and angle of inclination signal θINC;
- and
- determining a position of the nth calibration node at least partially based on the height Ĥ and the distance {circumflex over (D)};
- identifying respective positions of two other nodes that, together with the nth calibration node, form an external triangle, the two other nodes comprising one of the plurality of nodes, and a node corresponding to a position of the terminal pivot point B;
- determining side lengths for each of the legs of the external triangle formed between the nth calibration node and the two other nodes;
- and
- determining triangular angles of the external triangle based on the side lengths of the external triangle;
- and
- the architecture controller is further programmed to:
- repeat the iterative process n times until triangular angles and side lengths of at least three external triangles are determined, wherein the external triangles form an internal triangle therebetween, the internal triangle shares two nodes and one side with each of the three external triangles and comprises a set of three internal triangle side lengths;
- determine the angles of the internal triangle at least partially based on the set of three internal triangle side lengths;
- generate an implement angle of the earthmoving implement at least partially based on a summation of a set of adjacent determined triangular angles, the set of adjacent determined triangular angles comprising an angle from the internal triangle and angles from at least two of the external triangles;
- and
- operate the earthmoving machine using the implement angle.