Control system and method for controlling a position of a header of an agricultural harvester

A control system for controlling positioning of a header mounted to a main body of an agricultural harvester, the header being pivotable by an actuator about a central axis of the main body, the control system comprising:

• at least three header height sensors comprising:
• a first header height sensor for mounting at a first point on the header, and configured to provide a first header height signal representing a measured first header height of the first point on the header above a ground plane;
• a second header height sensor for mounting at a second point on the header, and configured to provide a second header height signal representing a measured second header height of the second point on the header above the ground plane;
• and
• a third header height sensor for mounting at an intermediate point on the header between the first point and the second point, and configured to provide a third header height signal representing a measured third header height of the intermediate point above the ground plane;
• a header angle sensor configured to provide a header angle signal indicative of a current pivot angle of the header about the central axis;
• and
• a processor configured to:
• receive the signals provided by the header angle sensor and the at least three header height sensors;
• calculate an estimated first header height based on the current pivot angle and the measured second and third header heights;
• determine a replacement first header height by selecting a smallest of the estimated first header height and the measured first header height;
• and
• generate a control signal for positioning the header, comprising controlling the actuator to pivot the header based at least on the replacement first header height.