Heading estimation using GNSS acceleration

The MTi-7, MTi-670 and MTi-G-710 can use various sensors to estimate the heading. Next to the magnetometers and gyroscope integration, the most accurate heading can be extracted by comparing GNSS-acceleration and acceleration from the accelerometers. This does require dynamics. 

In the following 4 steps (example), the heading is successful estimated:


  • Heading of MTi is correct (e.g. 20 deg)


  • Heading drifts because of gyroscope drift


  • In case of lateral accelerations (e.g. making a turn, the GNSS-deduced acceleration differs from the accelerometer measured acceleration


  • XKF now corrects the drifted heading


In addition to heading corrections, the GNSS acceleration is used by the on-board filters to improve observability of the gravitational acceleration vector, thus resulting in more accurate Roll/Pitch estimates during large accelerations. 



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