System having pitch-adjusted rotational speed measurement

A method of determining a rotational speed of a component rotationally mounted in a housing of a machine, the method comprising:

• sensing, using a first sensing element, a rotational velocity of the component relative to the housing,
• wherein the first sensing element includes a magnetic element, and
• wherein the magnetic element is configured to interact with a wheel attached to the component;
• sensing, using a second sensing element, a rotational rate of the housing;
• and
• determining the rotational speed of the component relative to an offboard reference based on the rotational velocity and the rotational rate.

A machine comprising:

• a bowl;
• a cushion hitch connected at a trailing end to the bowl;
• a tractor connected to the cushion hitch at a leading end and including:
• a frame;
• a shaft;
• a wheel operatively connected to the shaft;
• and
• an axle housing supporting the frame and at least partially enclosing the shaft;
• a speed sensor mounted inside the axle housing and configured to generate a velocity signal indicative of a rotational velocity of the shaft,
• wherein the speed sensor includes a magnetic element, and
• wherein the magnetic element is configured to interact with a wheel operatively connected to the shaft;
• a rotational rate gyro mounted to the frame and configured to generate a pitch rate signal indicative of a pitch rate of the tractor about the shaft;
• and
• a controller in communication with the speed sensor and the rotational rate gyro, the controller being configured to determine a rotational speed of the wheel relative to a ground surface below the machine based on the velocity signal and the pitch rate signal.