Machine guidance pitch and roll compensation

A system for steering a mobile agricultural machine to align a guidance point with a guidance line, the system comprising:

• an orientation sensor mounted on the mobile agricultural machine;
• a global navigation satellite system (GNSS) receiver mounted on the mobile agricultural machine;
• and
• one or more processors in data communication with the orientation sensor, wherein the one or more processors are configured to perform operations including:
• setting the guidance point;
• setting the guidance line;
• receiving, from the orientation sensor, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine;
• receiving, from the GNSS receiver, a geospatial position of the GNSS receiver;
• calculating an orientation correction based on the orientation information and a predetermined height of the GNSS receiver;
• and
• performing at least one of:
• modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line;
• or
• modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.

A non-transitory computer readable medium comprising instructions that, when executed by a processing unit, cause the processing unit to steer a mobile agricultural machine to align a guidance point with a guidance line by performing operations comprising:

• setting the guidance point;
• setting the guidance line;
• receiving, from an orientation sensor mounted on the mobile agricultural machine, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine;
• receiving, from a global navigation satellite system (GNSS) receiver mounted on the mobile agricultural machine, a geospatial position of the GNSS receiver;
• calculating an orientation correction based on the orientation information and a predetermined height of the GNSS receiver;
• and
• performing at least one of:
• modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line;
• or
• modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.