Operational parameter determination systems and methods with gear shifting compensation

An operational parameter determination system for determining an operational parameter of a machine, comprising:

• an operational parameter predictor configured to calculate an a priori estimated operational parameter of the machine based on a previously estimated operational parameter;
• a gear shifting compensator configured to determine whether a gear shifting is in progress, and when the gear shifting is in progress, to output the a priori estimated operational parameter as a determined operational parameter;
• and
• an operational parameter updater configured to, when the gear shifting is not in progress:
• receive a measured operational parameter of the machine;
• determine an a posteriori estimated operational parameter of the machine based on the a priori estimated operational parameter and the measured operational parameter;
• and
• output the a posteriori estimated operational parameter as the determined operational parameter.

A computer-readable storage device storing instructions for determining an operational parameter of a machine, the instructions causing one or more computer processors to perform operations comprising:

• calculating an a priori estimated operational parameter of the machine based on a previously estimated operational parameter;
• determining whether a gear shifting is in progress;
• when the gear shifting is in progress, outputting the a priori estimated operational parameter as a determined operational parameter;
• and
• when the gear shifting is not in progress:
• measuring a measured operational parameter of the machine;
• calculating an a posteriori estimated operational parameter of the machine based on the a priori estimated operational parameter and the measured operational parameter;
• and
• outputting the a posteriori estimated operational parameter as the determined operational parameter.