| CPC E02F 9/265 (2013.01) [E02F 9/264 (2013.01); G01B 21/22 (2013.01); G01P 15/08 (2013.01); G01P 15/18 (2013.01)] | 18 Claims |
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1. A computer-implemented method comprising:
receiving sensor data from sensors disposed on a swing boom and a body of a vehicle;
determining whether the swing boom is static or moving relative to the body based on the sensor data;
in response to determining that the swing boom is static, correcting, by a processor, the received sensor data based on an observed swing angle and calculating, by the processor, an estimated swing angle based on the corrected sensor data, wherein correcting the received sensor data based on the observed swing angle and calculating the estimated swing angle based on the corrected sensor data comprises:
comparing the observed swing angle with a last estimated swing angle; and
removing bias from the sensor data based on the comparing;
in response to determining that the swing boom is moving, calculating, by the processor, the estimated swing angle based on the received sensor data; and
outputting the estimated swing angle by at least one of:
displaying the estimated swing angle to an operator of the vehicle via a user interface displayed on a display device of the vehicle; or
automatically controlling the vehicle based on the estimated swing angle.
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