Patent ID: 7184926

Claim:
A method for estimating an orientation of a machine which provides a motive power unit and a working tool, using a fixed reference point on the machine wherein: (a) a working tool is attached to the motive power unit by a pivot which is located a first distance in front of the fixed reference point; (b) a 3D sensor is positioned on the working tool at a second distance along the working tool from the pivot; (c) a rotational angle sensor is adapted to measure a first angle, being the angle between the working tool and an axis of the machine; characterised in that the method comprises the steps of: (i) collecting a buffer of a predetermined number of the most recent positional data points from the 3D sensor; (ii) fitting the data points to a circle; (iii) determining the radius and centre of the circle; (iv) estimating an output heading of the 3D sensor; (v) calculating and providing an estimated orientation of the machine using the estimated output heading of the 3D sensor.