Machine guidance pitch and roll compensation

1. A method for steering a mobile agricultural machine to align a guidance point with a guidance line, the method comprising:

setting the guidance point;

setting the guidance line;

receiving, from an orientation sensor mounted on the mobile agricultural machine, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine;

receiving, from a global navigation satellite system (GNSS) receiver mounted on the mobile agricultural machine, a geospatial position of the GNSS receiver;

calculating an orientation correction based on the orientation information and a predetermined height of the GNSS receiver; and

performing at least one of:

modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line; or

modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.

2. The method of claim 1 , wherein setting the guidance point includes:

setting the guidance point based on a known physical relationship between the GNSS receiver and the guidance point.

3. The method of claim 1 , wherein setting the guidance line includes:

receiving a crop line corresponding to geospatial positions of a plurality of planted crops; and

setting at least part of the guidance line equal to at least part of the crop line.

4. The method of claim 1 , wherein calculating the orientation correction includes:

calculating an antenna-based orientation correction based on the predetermined height of the GNSS receiver and the orientation information, where the orientation correction includes the antenna-based orientation correction.

5. The method of claim 4 , wherein calculating the orientation correction includes:

calculating a header-based orientation correction based on a height of a header of the mobile agricultural machine and the orientation information, wherein the orientation correction includes both the antenna-based orientation correction and the header-based orientation correction.

6. The method of claim 1 , further comprising:

receiving a misalignment signal from a contact-based path sensor mounted on a header of the mobile agricultural machine;

calculating a path correction based on the misalignment signal; and

modifying one or both of the guidance point and the guidance line using the path correction.

7. A system for steering a mobile agricultural machine to align a guidance point with a guidance line, the system comprising:

an orientation sensor mounted on the mobile agricultural machine;

a global navigation satellite system (GNSS) receiver mounted on the mobile agricultural machine; and

one or more processors in data communication with the orientation sensor, wherein the one or more processors are configured to perform operations including:

setting the guidance point;

setting the guidance line;

receiving, from the orientation sensor, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine;

receiving, from the GNSS receiver, a geospatial position of the GNSS receiver;

calculating an orientation correction based on the orientation information and a predetermined height of the GNSS receiver; and

performing at least one of:

modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line; or

modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.

8. The system of claim 7 , wherein setting the guidance point includes:

setting the guidance point based on a known physical relationship between the GNSS receiver and the guidance point.

9. The system of claim 7 , wherein setting the guidance line includes:

receiving a crop line corresponding to geospatial positions of a plurality of planted crops; and

setting at least part of the guidance line equal to at least part of the crop line.

10. The system of claim 7 , wherein calculating the orientation correction includes:

calculating an antenna-based orientation correction based on the predetermined height of the GNSS receiver and the orientation information, where the orientation correction includes the antenna-based orientation correction.

11. The system of claim 10 , wherein calculating the orientation correction includes:

calculating a header-based orientation correction based on a height of a header of the mobile agricultural machine and the orientation information, wherein the orientation correction includes both the antenna-based orientation correction and the header-based orientation correction.

12. The system of claim 7 , further comprising a contact-based path sensor mounted on a header of the mobile agricultural machine, and wherein the operations further comprise:

receiving a misalignment signal from a contact-based path sensor mounted on a header of the mobile agricultural machine;

calculating a path correction based on the misalignment signal; and

modifying one or both of the guidance point and the guidance line using the path correction.

13. A non-transitory computer readable medium comprising instructions that, when executed by a processing unit, cause the processing unit to steer a mobile agricultural machine to align a guidance point with a guidance line by performing operations comprising:

setting the guidance point;

setting the guidance line;

receiving, from an orientation sensor mounted on the mobile agricultural machine, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine;

receiving, from a global navigation satellite system (GNSS) receiver mounted on the mobile agricultural machine, a geospatial position of the GNSS receiver;

calculating an orientation correction based on the orientation information and a predetermined height of the GNSS receiver; and

performing at least one of:

modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line; or

modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.

14. The non-transitory computer readable medium of claim 13 , wherein setting the guidance point includes:

setting the guidance point based on a known physical relationship between the GNSS receiver and the guidance point.

15. The non-transitory computer readable medium of claim 13 , wherein setting the guidance line includes:

receiving a crop line corresponding to geospatial positions of a plurality of planted crops; and

setting at least part of the guidance line equal to at least part of the crop line.

16. The non-transitory computer readable medium of claim 13 , wherein calculating the orientation correction includes:

calculating an antenna-based orientation correction based on the predetermined height of the GNSS receiver and the orientation information, where the orientation correction includes the antenna-based orientation correction.

17. The non-transitory computer readable medium of claim 16 , wherein calculating the orientation correction includes:

calculating a header-based orientation correction based on a height of a header of the mobile agricultural machine and the orientation information, wherein the orientation correction includes both the antenna-based orientation correction and the header-based orientation correction.