Control system, rotary milking parlor, method and computer program for controlling a rotary milking parlor

A method of controlling a rotary milking parlor (100), the method comprising:

• measuring, via a sensor arrangement, a parameter (P) representing a position of a movable platform (110) of the rotary parlor (100) relative to a stationary reference point (Pref), and
• generating a control signal (Ctrl) based on the parameter (P), the control signal (Ctrl) being configured to influence a movement of the movable platform (110),
• wherein the sensor arrangement used in the measuring step comprises a first transmitter unit (210) having a first transmitter antenna, and the method further comprising:
• with the first transmitter unit (210) located on the movable platform (110) so that the first transmitter unit (210) moves along with any movements of the movable platform (110), emitting a first radio signal (SID) from the first transmitter antenna, the first radio signal (SID) containing a timing reference and uniquely identifying the first transmitter unit (210),
• receiving the first radio signal (SID) in at least three receiver stations (221, 222, 223;
• 224, 225, 226), of the at least three receiver stations having a respective receiver antenna and being placed stationary with the receiver antenna thereof located such that, during operation of the rotary milking parlor (100), the first radio signal (SID) propagates along a line-of-sight from the first transmitter antenna to the receiver antenna of each of the at least three receiver stations,
• producing a respective sensor signal (R1, R2, R3) in each of the at least three receiver stations (221, 222, 223;
• 224, 225, 226),
• generating the parameter (P) based on respective propagation times derived from the timing reference contained in the first radio signal (SID),
• from the parameter (P) determining a velocity of the movable platform (110), and
• the control unit (150), using the parameter (P) and the determined velocity of the movable platform (110), generating the control signal (Ctrl) to change a velocity of the movable platform (110).