Heading estimation using GPS acceleration

The 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 GPS-acceleration and acceleration from the accelerometers. This does require dynamics. 

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

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

  • Heading drifts because of gyroscope drift

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

  • XKF now corrects the drifted heading




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