Systems and methods for tracking a position of a rotating platform of a lidar system

A method comprising:

• receiving from a first sensor, as a first portion of a LIDAR assembly rotates relative to a second portion of the LIDAR assembly, a first magnetic field measurement associated with a first magnetic field of a first magnet,
• wherein the first magnet is located on the second portion and arranged with a north pole of the first magnet facing a first radial direction,
• wherein a second magnet is located on the second portion and arranged with a south pole of the second magnet facing the first radial direction,
• wherein the first sensor is located on the first portion,
• wherein the first sensor is further configured to measure the first magnetic field of the first magnet and a second magnetic field of the second magnet as the first portion rotates relative to the second portion;
• receiving a second magnetic field measurement associated with the magnetic field of the second magnet from the first sensor;
• and calculating a position of the first sensor relative to the second portion based on the first magnetic field measurement and the second magnetic field measurement;
• and
• a third magnet, located on the second portion of the LIDAR assembly, the third magnetic magnet having a north pole that is facing a second direction, and wherein the second direction is orthogonally magnetic to the first radial direction;
• and
• a second sensor, located on the second portion of the LIDAR assembly, the second sensor being configured to measure a magnetic field of the third magnet.

A non-transitory computer readable medium including computer-executable instructions stored thereon, which when executed by one or more processors, cause the one or more processors to perform operations of:

• receiving from a first sensor, as a first portion of a LIDAR assembly rotates relative to a second portion of the LIDAR assembly, a first magnetic field measurement associated with a first magnetic field of a first magnet,
• wherein the first magnet is located on the second portion and arranged with a north pole of the first magnet facing a first radial direction,
• wherein a second magnet is located on the second portion and arranged with a south pole of the second magnet facing the first radial direction,
• wherein the first sensor is located on the first portion,
• wherein the first sensor is further configured to measure the first magnetic field of the first magnet and a second magnetic field of the second magnet as the first portion rotates relative to the second portion;
• receiving a second magnetic field measurement associated with the magnetic field of the second magnet from the first sensor;
• and
• calculating a position of the first sensor relative to the second portion based on the first magnetic field measurement and the second magnetic field measurement;
• and
• a third magnet, located on the second portion of the LIDAR assembly, the third magnetic magnet having a north pole that is facing a second direction, and wherein the second direction is orthogonally magnetic to the first radial direction;
• and
• a second sensor, located on the second portion of the LIDAR assembly, the second sensor being configured to measure a magnetic field of the third magnet.