An attitude estimation apparatus includes an attitude estimation unit for estimating the roll angle and pitch angle of a movable body and for using a calculation process to estimate an offset error for at least one of first, second and third angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit estimates the roll angle and pitch angle of the movable body and the offset error for at least one detection unit based on detected values from the first, second and third angular velocity detection units, detected values from the first, second and third acceleration detection units, a detected value from the velocity information detection unit, an estimated value of the roll angle from a previous estimation operation, an estimated value of the pitch angle from the previous estimation operation, and an estimated value of the offset error from the previous estimation operation.

An assembly for correcting an attitude of at least a selected portion of a structure, where the assembly includes a controller affixed to a structure operatively coupled with one or more jacks operable to change the attitude of the structure; and a remote device configured to communicate wirelessly with the controller to change the attitude of a selected portion of the structure. Also disclosed is a method for adjusting an attitude of a movable structure.

An assembly for correcting an attitude of at least a selected portion of a structure, where the assembly includes a controller affixed to a structure operatively coupled with one or more jacks operable to change the attitude of the structure; and a remote device configured to communicate wirelessly with the controller to change the attitude of a selected portion of the structure. Also disclosed is a method for adjusting an attitude of a movable structure.

A pumpjack monitor includes a processor and memory, a communicator for communicating with other monitors and a server, a sensor module having at least one strain gauge, and accelerometers for determining vibration and position of the monitor. Other sensors may be internal, including sensors for polished-rod rotation, and linked to the monitoring device wirelessly. Some embodiments serve as network hubs or bridges for other monitors. The server is configured to generate surface cards. A method for monitoring of pumpjacks uses the monitor to sense changes in pumpjack parameters, and communicate the changes to a server when changes exceed configurable thresholds. Some embodiments include determining location with GPS and/or relaying signals from other monitoring devices, smart power management, gas sensing, and relaying of signals from external wireless-equipped sensors such as valve position sensors, oil level sensors, and pressure sensors.

A pumpjack monitor includes a processor and memory, a communicator for communicating with other monitors and a server, a sensor module having at least one strain gauge, and accelerometers for determining vibration and position of the monitor. Other sensors may be internal, including sensors for polished-rod rotation, and linked to the monitoring device wirelessly. Some embodiments serve as network hubs or bridges for other monitors. The server is configured to generate surface cards. A method for monitoring of pumpjacks uses the monitor to sense changes in pumpjack parameters, and communicate the changes to a server when changes exceed configurable thresholds. Some embodiments include determining location with GPS and/or relaying signals from other monitoring devices, smart power management, gas sensing, and relaying of signals from external wireless-equipped sensors such as valve position sensors, oil level sensors, and pressure sensors.

A method for determining relative angles and/or trigonometric functions of the relative angles between coupled rigid bodies arranged in a series, where the series includes at least a rigid body coupled to a previous rigid body. The method includes obtaining a gravitational acceleration vector and an angular velocity of the previous rigid body and a gravitational acceleration and an angular velocity of the rigid body. The relative angles and/or trigonometric functions of the relative angles are determined without using absolute angles of the rigid bodies.

A method for determining relative angles and/or trigonometric functions of the relative angles between coupled rigid bodies arranged in a series, where the series includes at least a rigid body coupled to a previous rigid body. The method includes obtaining a gravitational acceleration vector and an angular velocity of the previous rigid body and a gravitational acceleration and an angular velocity of the rigid body. The relative angles and/or trigonometric functions of the relative angles are determined without using absolute angles of the rigid bodies.

A method and system that compensates for kinematic accelerations influencing a sensor measurement of working equipment such as an excavator. The method and system identify members of the working equipment that are movable relative to each other (e.g. stick, boom, bucket) and define a co-ordinate frame for each movable member. A kinematic relationship, preferably a kinematic chain. The sensor measurement is then modified according to the kinematic relationships and the relative position of each identified member.

A method and system that compensates for kinematic accelerations influencing a sensor measurement of working equipment such as an excavator. The method and system identify members of the working equipment that are movable relative to each other (e.g. stick, boom, bucket) and define a co-ordinate frame for each movable member. A kinematic relationship, preferably a kinematic chain. The sensor measurement is then modified according to the kinematic relationships and the relative position of each identified member.

An inclination sensor system for a mobile work machine includes a MEMS inclination sensor and a further inclination sensor of a different type and a fusion device. The inclination sensor is configured to output a first inclination signal on the basis of an inclination that exists at the inclination sensor. The further inclination sensor is configured to output a second inclination signal on the basis of the inclination that exists at the further inclination sensor. The fusion device is configured to calculate a corrected inclination signal on the basis of the first and second inclination signals and to output same as the corrected inclination signal.