The MTi-7 and MTi-G-710 can use various sensors to estimate the heading. Next to the magnetometers and gyroscope integration as in the MTi 10-series and MTi 100-series, 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.