Product group: Semi-autonomous Loaders (Construction & Forestry)
Responsibilities: Sensor fusion for Localization, Vehicle Integration
Title: Project Champion
- Developed the IMU calibration routine
- Implemented a 3D Kalman Filter for Sensor Fusion (GNSS + IMU)
- Incorporated Temporal calibration logic in C to achieve time synchronization of Kalman Filter
- Achieved improvements in latency 95%
- Improved the accuracy of the position estimation at slow speeds and during GNSS outage
- Gained experience with high-precision GNSS (RTK, PPP, RTCM)
- Built the CAN J1939 interface and deployed the Localization algorithm on a 32-bit RTOS Embedded controller.
- Architected the whole Simulink model following the Model-Based System design best practices. Used Simulink’s Embedded coder to generate C code for the target platform
- Developed a Forward Kinematics module for tracking points of interest
- Developed Electrical harness schematic for prototype components, Performed On-Machine Testing to validate the performance against the system requirements
- Demonstrated the feature to numerous members of the Senior Leadership including the CEO and CTO. Used the feedback to further improve the feature in terms of robustness, smoothness, accuracy, and repeatability
- Leading the transition from the R&D solution to the Production solution, Coordinating performance evaluations and customer site evaluations for more feedback
- Contributed to the UI/UX brainstorming sessions, and supported the team in the development of feature-specific UI elements using C++ (Qt, MQTT), and QML
Product group: Deere Excavators – Automation
Responsibilities: Excavator Automation features
- Developed prototype software in Python to interface with proprietary GNSS system, preprocess sensor data, and interact with Vehicle controllers. Deployed on Raspberry Pi
- Refactored the code and improved scalability for usage across different product groups
- Implemented the Forward Kinematics module in Simulink for a 32-bit RTOS Embedded controller used for real-time tracking of points of interest