Heading initialization may be completed using different sources and techniques. User may choose relevant technique in order to initialize the heading.
Initial heading alignment technique differs with respect to user’s choice. When the magnetic heading is selected for heading initialization, yaw is initialized using the 3D magnetometer measured Earth’s magnetic field. When the magnetometer is enabled, it is the default source for initial heading. User should depend on magnetometer for initial heading estimation if and only if the magnetometer is calibrated, respectively. Magnetometer should not be used unless the sensor is operated in a good magnetic environment away from magnetic disturbances.
If the velocity heading is selected for initialization, the velocity information from the GNSS is used to align the INS while in motion. The heading is estimated using GNSS course over ground. This alignment technique is suitable for the land vehicles, motion of which is coincident with the forward axis. The procedure is not suitable for airborne and marine applications where the vehicle motion in the plane perpendicular to the forward axis is not zero.
In ArNav, the user may align the system with external heading. Selecting external heading option enables user to feed the system with heading information. In this approach, the yaw angle (heading) and its uncertainty are entered to the system by the user. After the alignment, the accuracy of the attitude solution increases as the system experiences dynamics.
ArNav M2HD is capable of initializing heading using carrier phase measurements under any circumstances using sophisticated algorithms exploiting the advantages of double antenna configuration.
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