Disclaimer: AHS is still in beta for GNSS/INS devices. Although the feature is available, it was not designed or extensively tested for these devices.
Active Heading Stabilization (AHS) is a software component within the sensor fusion engine designed to give a low-drift unreferenced (not North-referenced) yaw solution even in a disturbed magnetic environment. It is aimed to tackle magnetic distortions that do not move with the sensor, i.e. temporary or spatial distortions. The magnetic norm can be used to identify these magnetic distortions.
AHS is available in all products and filter profiles. Therefore, the user can get a stable yaw solution even with a VRU product. When AHS is applied to a filter profile that uses the magnetic field as a reference, the magnetic field will no longer be used as a reference. The yaw output will be referenced with respect to startup heading orientation, instead of North-referenced. Upon initialization of the sensor, the yaw estimate will therefore be 0 degrees. With AHS enabled, the drift in yaw can be as low as 1-3 degrees per hour. This however depends on the type of application. AHS works best for applications that are occasionally motionless, such as warehouse robotics and other ground vehicles.
When the application expects that either the MTi or the magnetic field rotates very slowly, it is recommended to not enable AHS.
How to enable AHS
In the latest generation of MTi devices (e.g. MTi 600-series), AHS can be enabled as a filter profile "VRU-AHS".
In earlier generations of MTi devices (e.g. MTi 10/100-series), AHS can be enabled by setting a flag:
|Low Level Communication||
Configure the device at Low Level Communication. See SetOptionFlags section in MT Low Level Communication Protocol Documentation.
Use the setDeviceOptionFlags function. Refer to the XDA library (found in your MT SDK Documentation folder) for more information.
This method is not available for GNSS/INS devices.