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An accurate heading solution is required for many applications and it can be achieved by high grade (high cost) gyroscopes (gyros)which may not be suitable for such applications. Micro-Electro Mechanical Systems-based (MEMS) is an emerging technology,which has the potential of providing heading solution using a low cost MEMS-based gyro. However, MEMS-gyro-based headingsolution drifts significantly over time. The heading solution can also be estimated using MEMS-based magnetometer by measuringthe horizontal components of the Earth magnetic field. The MEMS-magnetometer-based heading solution does not drift over time,but are contaminated by high level of noise and may be disturbed by the presence of magnetic field sources such as metal objects.This paper proposed an accurate heading estimation procedure based on the integration of MEMS-based gyro and magnetometermeasurements that correct gyro and magnetometer measurements where gyro angular rates of changes are estimated usingmagnetometer measurements and then integrated with the measured gyro angular rates of changes with a robust filter to estimatethe heading. The proposed integration solution is implemented using two data sets; one was conducted in static mode withoutmagnetic disturbances and the second was conducted in kinematic mode with magnetic disturbances. The results showed that theproposed integrated heading solution provides accurate, smoothed and undisturbed solution when compared with magnetometerbasedand gyro-based heading solutions

An Accurate Heading Solution using MEMS-based Gyroscope and Magnetometer Integrated System (Preliminary Results)