Abstract: A center-pivot irrigation system having a plurality of towers interconnected by a plurality of spans actuatable about a center pivot, a plurality of solid-state sensors each mounted in fixed alignment with one of the spans or towers, and a control system communicably coupled with the solid-state sensors. The solid-state sensors may send acceleration, angular acceleration, angular rotation, heading, and/or angle measurements to the control system, which may use these measurements to calculate alignment of the spans relative to each other and/or the center pivot and to calculate locations of the spans or towers using a known location of the center pivot. The solid-state sensors may be solid-state gyroscopes, solid-state accelerometers, digital compass, and/or an inertial measurement unit (IMU).

Abstract: A single wheel irrigation tower for use in an irrigation system, the tower comprising a support member, a single wheel rotatably connected to the support member for moving along a ground surface, a motor operable to rotate and propel the wheel along the ground surface, and a sensor and controller collectively operable to balance the support member on the wheel.