Method and system for detection of roll sensor bias

A system for detection of roll sensor bias, the system comprising:

• a location-determining receiver configured to estimate a current position of a vehicle or its implement;
• a roll angle sensor configured to detect a first roll angle at a corresponding first point of a path plan of a vehicle, or its implement, based on the estimated current position;
• the roll angle sensor configured to detect a second roll angle at a corresponding second point of a path plan of a vehicle, or its implement, based on the estimated current position;
• an electronic data processor for determining a roll angle delta or difference between the first roll angle and the second roll angle;
• the electronic data processor capable of communicating with a data storage device, the location-determining receiver and the roll angle sensor via a data bus;
• the electronic data processor configured to execute software instructions stored in the data storage device:
• to determine if the roll angle delta is greater than a reference roll value, evaluate the roll angle delta over an evaluation period;
• to determine if the roll angle is greater than the reference roll value for equal to or greater than a target percentage threshold or target ratio for the evaluation period, designate the roll angle sensor for possible recalibration.

A method for detection of roll sensor bias, the method comprising:

• estimating a current position and yaw change of a vehicle or its implement;
• detecting a first roll data at a corresponding first point of a path plan of a vehicle, or its implement, based on the estimated current position;
• detecting a second roll data at a corresponding second point of a path plan of a vehicle, or its implement, based on the estimated current position if the estimated yaw change is greater than a target yaw angular displacement;
• determining a roll delta or difference between the first roll data and the second roll data;
• if the roll angle delta is greater than a reference roll value, evaluate the roll delta over an evaluation period;
• if the roll delta is greater than the reference roll value for equal to or greater than a target percentage threshold or target ratio for the evaluation period, designate the roll angle sensor for possible recalibration.