Determination of an excavator swing boom angle based on an angular velocity ratio

A system for determining a swing boom angle of an excavator, wherein the excavator comprises:

• a vehicle frame comprising a cabin,
• a swing boom arranged on the vehicle frame and configured to be rotated relative to the vehicle frame about a first rotation axis,
• a pneumatic or hydraulic cylinder, a first end of which is coupled to the vehicle frame and a second end of which is coupled to the swing boom, the cylinder being configured to be rotated relative to the vehicle frame about a second rotation axis at the first end, wherein the cylinder is configured to rotate the swing boom,
• the system comprising:
• a first inertial measurement unit (IMU), configured to be mounted on the swing boom and to generate first IMU data,
• a second IMU configured to be mounted on the cylinder and to generate second IMU data,
• a processing unit configured to:
• receive the first and the second IMU data
• determine a first angular velocity of the swing boom around the first rotation axis based on the first IMU data and a second angular velocity of the cylinder around the second rotation axis based on the second IMU data when the cylinder is actuated, and
• determine the swing boom angle based on a ratio of the second angular velocity and the first angular velocity.