Multi-sensor tool height control for ground engaging tools

A height determination system, comprising:

• a first sensor configured to detect a characteristic indicative of a position of a wheel, coupled to a frame of a mobile machine, relative to the frame and generate a first frame height sensor signal indicative of the position of the wheel relative to the frame;
• a second sensor configured to sense a height of the frame above a surface of a ground over which the mobile machine is configured to travel and generate a second frame height sensor signal indicative of the sensed height of the frame above the surface of the ground;
• and
• a control system configured to:
• generate a frame height value indicative of a height of the frame above the surface of the ground based on the first frame height sensor signal;
• generate a frame height correction value indicative of a correction to the frame height value based on the second frame height sensor signal to obtain a corrected frame height value;
• and
• generate a control signal to control the mobile machine based on the corrected frame height value.

A method of controlling a mobile machine, comprising;

• obtaining a first frame height sensor signal indicative of a position of a wheel relative to a frame of the mobile machine;
• obtaining a second frame height sensor signal indicative of a height of the frame above a surface of a ground;
• generating a frame height value indicative of a height of the frame above the surface of the ground based on the first frame height sensor signal;
• generating a frame height correction value indicative of a correction to the frame height value based on the second frame height sensor signal to obtain a corrected frame height value;
• generating a corrected frame height value indicative of a corrected height of the frame above the surface of the ground based on the frame height correction value;
• and
• generating a control signal to control the mobile machine based on the corrected frame height value.

A mobile machine, comprising:

• a frame;
• a wheel, coupled to the frame, that is movable relative to the frame;
• an actuator configured to drive movement of the wheel relative to the frame;
• a ground engaging tool mounted to the frame and configured to engage ground, over which the mobile machine is configured to travel, at a depth;
• a first sensor configured to generate a first frame height sensor signal indicative of the position of the wheel relative to the frame;
• a second sensor configured to generate a second frame height sensor signal indicative of a height of the frame above the surface;
• and
• a control system configured to:
• generate a frame height value indicative of a height of the frame above a surface of the ground over which the mobile machine is configured to travel based on the first frame height sensor signal;
• generate a frame height correction value indicative of a correction to the frame height value based on the second frame height sensor signal to obtain a corrected frame height value;
• and
• generate a control signal to control the mobile machine based on the corrected frame height value.