Fecha de publicación: 08/12/2016 Fuente: Wipo "precision agriculture" A mobile machine comprises a wheel for supporting the machine on a ground surface, the wheel including a tire defining an outer portion of the wheel, and further comprises a positioning receiver and one or more computing devices. The one or more computing devices determine a travel characteristic of the machine, a rotational speed of the wheel, a radius of the tire based on the rotational speed of the wheel and the travel characteristic, and a height of the positioning system receiver from the ground surface using the radius of the tire. The one or more computing devices may adjust the travel characteristic of the machine or the rotational speed of the wheel to compensate for wheel slip, and use the adjusted travel characteristic or adjusted rotational speed of the wheel to determine the radius of the tire.