Heading Estimation using GPS

[emareg]

At the moment the heading of the glider is only estimated using the magnetometer. As an enhancement, the heading could be also estimated from the GPS velocity vector. We have observed that the drift sidewards due to wind is low compared to the forward movement. Therefore we can assume that the direction of the velocity vector is pointing in the same direction as the heading of the glider most of the time.

Furthermore, the magnetometer estimation is sensitive to noise. Combining the heading estimation of the magnetometer and the GPS in the Kalman-Filter would probably provide the best accuracy and robustness.