Roll affecting heading

[Simon_1]

Danerr, take a look at this discussion:

Combining Single Antenna GPS + IMU

One of the endless frustrations for single antenna is that the imu is never coordinated with the gps position since they come from 2 different sources. I’ve been thinking about the idea of instead of just an imu module, read the gps as it is being sent, take a reading from the imu at the right time, combine all the required data into a sentence. Much like PAOGI does with dual. I hope to be able to set up a test rig to roll the antenna on a pole and determine imu timing etc to be able to match t…