Method of determining a heading in the geographical north direction by means of an inertial unit

摘要

A method of determining a heading in the geographical North direction by means of an inertial sensor module having three rate gyro measurement axes and three accelerometer measurement axes, the method comprising the steps of:using data from the inertial sensor module in a North-seeking mode to obtain a first heading value;using data from the inertial sensor module in a gyro-compass mode to obtain a second heading value; anddetermining the heading in the North direction by using the first heading value and the second heading value.