Automatic blade control system for a motor grader
Disclosed is a method for automatically controlling a blade of a motor grader. At least one global navigation satellite system (GNSS) antenna and at least one inertial measurement unit (IMU) are mounted on the motor grader. No GNSS antenna is mounted on the blade; and no pole is used for mounting. With each GNSS antenna, GNSS navigation signals are received, and a position of each GNSS antenna is computed. With each IMU, three orthogonal accelerations and three orthogonal angular rotation rates are measured. With at least one processor, a blade position and a blade orientation are computed, based at least in part on the GNSS and IMU measurements. The blade elevation and the blade slope angle (and, in some embodiments, the blade side shift) are automatically controlled, based at least in part on the computed blade position, the computed blade orientation, and a digital job site model.
1. A method for controlling a blade of a motor grader, the method comprising the steps of:
with each of at least one global navigation satellite system (GNSS) antenna, receiving GNSS navigation signals from a constellation of GNSS satellites, wherein:
each of the at least one GNSS antenna is mounted on the motor grader;
each of the at least one GNSS antenna is not mounted on the blade; and
each of the at least one GNSS antenna is operably coupled to a corresponding GNSS receiver;
with each GNSS receiver:
processing the GNSS navigation signals received by the at least one GNSS antenna operably coupled to the GNSS receiver; and
computing first measurements, wherein the first measurements comprise a position of the at least one GNSS antenna operably coupled to the GNSS receiver;
with each of at least one inertial measurement unit, measuring second measurements, wherein:
each of the at least one inertial measurement unit is mounted on the motor grader;
each of the at least one inertial measurement unit has three corresponding orthogonal measurement axes; and
the second measurements comprise:
measurements of accelerations along the three orthogonal measurement axes; and
measurements of angular rotation rates about the three orthogonal measurement axes; and
with a stroke sensor installed on a blade side shift hydraulic cylinder of the motor grader, measuring third measurements comprising measurements of a blade side shift; and
with at least one processor:
computing a blade position and a blade orientation, wherein the blade position and the blade orientation are based at least in part on the first measurements, the second measurements, and the third measurements;
controlling a blade elevation and a blade slope angle, wherein the step of controlling the blade elevation and the blade slope angle is based at least in part on the computed blade position, the computed blade orientation, and a digital job site model; and
controlling the blade side shift based at least in part on the computed blade position, the computed blade orientation, and the digital job site model.
2. The method of claim 1 , wherein the at least one GNSS antenna comprises a GNSS antenna mounted on a front frame of the motor grader.
3. The method of claim 1 , wherein the at least one GNSS antenna comprises a GNSS antenna mounted on a cabin roof top of the motor grader.
4. The method of claim 1 , wherein the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on the front frame of the motor grader.
5. The method of claim 1 , wherein the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on a cabin roof top of the motor grader.
6. The method of claim 1 , wherein the at least one inertial measurement unit comprises an inertial measurement unit mounted on a front frame of the motor grader.
7. The method of claim 1 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader.
8. The method of claim 1 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
9. The method of claim 1 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader.
10. The method of claim 1 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader; and
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
11. The method of claim 10 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the method further comprises the step of:
with a rotation sensor installed on the articulation joint, measuring fourth measurements, wherein the fourth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements.
12. The method of claim 1 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader; and
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
13. The method of claim 1 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader;
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle; and
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements and the fifth measurements.
14. The method of claim 13 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the method further comprises the step of:
with a rotation sensor installed on the articulation joint, measuring sixth measurements, wherein the sixth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the sixth measurements.
15. The method of claim 1 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader; and
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle; and
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements and the fifth measurements.
16. The method of claim 1 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader;
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
with a stroke sensor installed on the left blade elevation hydraulic cylinder, measuring sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder; and
with a stroke sensor installed on the right blade elevation hydraulic cylinder, measuring seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, and the seventh measurements.
17. The method of claim 16 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the method further comprises the step of:
with a rotation sensor installed on the articulation joint, measuring eighth measurements, wherein the eighth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the eighth measurements.
18. The method of claim 1 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader;
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
with a stroke sensor installed on the left blade elevation hydraulic cylinder, measuring sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder; and
with a stroke sensor installed on the right blade elevation hydraulic cylinder, measuring seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, and the seventh measurements.
19. The method of claim 1 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises an inertial measurement unit mounted on the front frame of the motor grader;
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
with a stroke sensor installed on a left blade elevation hydraulic cylinder of the motor grader, measuring sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
with a stroke sensor installed on a right blade elevation hydraulic cylinder of the motor grader, measuring seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
with a stroke sensor installed on a drawbar hydraulic cylinder of the motor grader, measuring eighth measurements, wherein the eighth measurements comprise measurements of a heading angle of an A-frame of the motor grader relative to the front frame of the motor grader; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, the seventh measurements, and the eighth measurements.
20. The method of claim 19 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the method further comprises the step of:
with a rotation sensor installed on the articulation joint, measuring ninth measurements, wherein the ninth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the ninth measurements.
21. The method of claim 1 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises an inertial measurement unit mounted on the front frame of the motor grader;
the method further comprises the steps of:
with a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader, measuring fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
with a rotation sensor installed on a circle/A-frame swivel joint of the motor grader, measuring fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
with a stroke sensor installed on a left blade elevation hydraulic cylinder of the motor grader, measuring sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
with a stroke sensor installed on a right blade elevation hydraulic cylinder of the motor grader, measuring seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
with a stroke sensor installed on a drawbar hydraulic cylinder of the motor grader, measuring eighth measurements, wherein the eighth measurements comprise measurements of a heading angle of an A-frame of the motor grader relative to the front frame of the motor grader; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, the seventh measurements, and the eighth measurements.
22. A system for controlling a blade of a motor grader, the system comprising:
at least one global navigation satellite system (GNSS) antenna, wherein each of the at least one GNSS antenna:
is mounted on the motor grader;
is not mounted on the blade;
is configured to receive GNSS navigation signals from a constellation of GNSS satellites; and
is operably coupled to a corresponding GNSS receiver, wherein the GNSS receiver:
is configured to process the GNSS navigation signals received by the at least one GNSS antenna operably coupled to the GNSS receiver; and
is configured to compute first measurements, wherein the first measurements comprise a position of the at least one GNSS antenna operably coupled to the GNSS receiver;
at least one inertial measurement unit, wherein each of the at least one inertial measurement unit:
is mounted on the motor grader;
has three corresponding orthogonal measurement axes;
is configured to measure second measurements, wherein the second measurements comprise:
measurements of accelerations along the three orthogonal measurement axes; and
measurements of angular rotation rates about the three orthogonal measurement axes; and
a stroke sensor installed on a blade side shift hydraulic cylinder of the motor grader, wherein the stroke sensor is configured to measure third measurements comprising measurements of a blade side shift; and
at least one processor configured to:
compute a blade position and a blade orientation, wherein the blade position and the blade orientation are based at least in part on the first measurements, the second measurements, and the third measurements;
control a blade elevation and a blade slope angle, wherein control of the blade elevation and the blade slope angle is based at least in part on the computed blade position, the computed blade orientation, and a digital job site model; and
control the blade side shift at least in part on the computed blade position, the computed blade orientation, and the digital job site model.
23. The system of claim 22 , wherein the at least one GNSS antenna comprises a GNSS antenna mounted on a front frame of the motor grader.
24. The system of claim 22 , wherein the at least one GNSS antenna comprises a GNSS antenna mounted on a cabin roof top of the motor grader.
25. The system of claim 22 , wherein the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on the front frame of the motor grader.
26. The system of claim 22 , wherein the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on a cabin roof top of the motor grader.
27. The system of claim 22 , wherein the at least one inertial measurement unit comprises an inertial measurement unit mounted on a front frame of the motor grader.
28. The system of claim 22 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader.
29. The system of claim 22 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
30. The system of claim 22 , wherein the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on a front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader.
31. The system of claim 22 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader; and
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
32. The system of claim 31 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the system further comprises a rotation sensor installed on the articulation joint;
the rotation sensor installed on the articulation joint is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements.
33. The system of claim 22 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader; and
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on an A-frame of the motor grader; and
a third inertial measurement unit mounted on a blade support structure of the motor grader.
34. The system of claim 22 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements and the fifth measurements.
35. The system of claim 34 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the system further comprises a rotation sensor installed on the articulation joint;
the rotation sensor installed on the articulation joint is configured to measure sixth measurements, wherein the sixth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the sixth measurements.
36. The system of claim 22 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader; and
a second inertial measurement unit mounted on an A-frame of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle; and
the blade position and the blade orientation are further based at least in part on the fourth measurements and the fifth measurements.
37. The system of claim 22 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
the system further comprises a stroke sensor installed on the left blade elevation hydraulic cylinder;
the stroke sensor installed on the left blade elevation hydraulic cylinder is configured to measure sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on the right blade elevation hydraulic cylinder;
the stroke sensor installed on the right blade elevation hydraulic cylinder is configured to measure seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, and the seventh measurements.
38. The system of claim 37 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the system further comprises a rotation sensor installed on the articulation joint;
the rotation sensor installed on the articulation joint is configured to measure eighth measurements, wherein the eighth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the eighth measurements.
39. The system of claim 22 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises:
a first inertial measurement unit mounted on the front frame of the motor grader;
a second inertial measurement unit mounted on a left blade elevation hydraulic cylinder of the motor grader; and
a third inertial measurement unit mounted on a right blade elevation hydraulic cylinder of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
the system further comprises a stroke sensor installed on the left blade elevation hydraulic cylinder;
the stroke sensor installed on the left blade elevation hydraulic cylinder is configured to measure sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on the right blade elevation hydraulic cylinder;
the stroke sensor installed on the right blade elevation hydraulic cylinder is configured to measure seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, and the seventh measurements.
40. The system of claim 22 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on:
a front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises an inertial measurement unit mounted on the front frame of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
the system further comprises a stroke sensor installed on a left blade elevation hydraulic cylinder of the motor grader;
the stroke sensor installed on the left blade elevation hydraulic cylinder is configured to measure sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on a right blade elevation hydraulic cylinder of the motor grader;
the stroke sensor installed on the right blade elevation hydraulic cylinder is configured to measure seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on a drawbar hydraulic cylinder of the motor grader;
the stroke sensor installed on the drawbar hydraulic cylinder is configured to measure eighth measurements, wherein the eighth measurements comprise measurements of a heading angle of an A-frame of the motor grader relative to the front frame of the motor grader; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, the seventh measurements, and the eighth measurements.
41. The system of claim 40 , wherein:
the at least one GNSS antenna comprises a GNSS antenna mounted on the cabin roof top of the motor grader;
the motor grader comprises an articulation joint in front of a cabin of the motor grader;
the system further comprises a rotation sensor installed on the articulation joint;
the rotation sensor installed on the articulation joint is configured to measure ninth measurements, wherein the ninth measurements comprise measurements of an articulation angle; and
the blade position and the blade orientation are further based at least in part on the ninth measurements.
42. The system of claim 22 , wherein:
the at least one GNSS antenna comprises:
a first GNSS antenna mounted on a front frame of the motor grader; and
a second GNSS antenna mounted on:
the front frame of the motor grader; or
a cabin roof top of the motor grader;
the at least one inertial measurement unit comprises an inertial measurement unit mounted on the front frame of the motor grader;
the system further comprises a stroke sensor installed on a blade pitch rotation hydraulic cylinder of the motor grader;
the stroke sensor installed on the blade pitch rotation hydraulic cylinder is configured to measure fourth measurements, wherein the fourth measurements comprise measurements of a blade pitch rotation angle;
the system further comprises a rotation sensor installed on a circle/A-frame swivel joint of the motor grader;
the rotation sensor installed on the circle/A-frame swivel joint is configured to measure fifth measurements, wherein the fifth measurements comprise measurements of a blade rotation angle;
the system further comprises a stroke sensor installed on a left blade elevation hydraulic cylinder of the motor grader;
the stroke sensor installed on the left blade elevation hydraulic cylinder is further configured to measure sixth measurements, wherein the sixth measurements comprise measurements of a stroke of the left blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on a right blade elevation hydraulic cylinder of the motor grader;
the stroke sensor installed on the right blade elevation hydraulic cylinder is configured to measure seventh measurements, wherein the seventh measurements comprise measurements of a stroke of the right blade elevation hydraulic cylinder;
the system further comprises a stroke sensor installed on a drawbar hydraulic cylinder of the motor grader;
the stroke sensor installed on the drawbar hydraulic cylinder is configured to measure eighth measurements, wherein the eighth measurements comprise measurements of a heading angle of an A-frame of the motor grader relative to the front frame of the motor grader; and
the blade position and the blade orientation are further based at least in part on the fourth measurements, the fifth measurements, the sixth measurements, the seventh measurements, and the eighth measurements.