trigonometry - How to calculate Heading using Gyro and magnetometer -

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i have raw data of gyroscope , magnetometer. on basis of data, have calculate heading information accuracy of 1deg.

i know, there algorithm can me heading info using available information mentioned accuracy?

any article or link helpful.

thanks

i assuming using phone collect gyroscope+magnetometer data.

you cannot calculate heading gyro+magnetometer unless know initial state of device. have try accelerometer+magnetometer. can heading values rotation-matrix' oryaw` component motion sensor api of android/ios device.

if want implement of own try tilt-compensation algorithm. have implement tilt- compensated ecompass using accelerometer , magnetometer. accelerometer , magnetometer readings in device frame. accelerometer , magnetometer gives readings function of rotation of device. rotation contains information of roll, pitch , heading of device. following explanation , derivation of heading estimation using accelerometer+magnetometer.

android sensor coordinate system

tilt compensation algorithm

let accelerometer , magnetometer give

readings respectively. in device frame, , device rotated through

.

where heading looking for. rotation matrix of device

we have solve . step step solving .

from above, equating 0 get

having above

this basic method of obtaining heading value accelerometer+magentomete. yaw/heading value provided motion sensor apis present in mobile phones.

quite few things have when implementing sensor-fusion algorithms. accelerometers doesn't give correct readings, devices under linear accelerations. magnetometer readings subjected distortion due ferromagnetic substances in vicinity. accuracy depends on white noise component in gyroscope sensor too.

there numerous algorithms estimate accurate heading values. of them


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