The Receiver contains an IMU that has internal magnetometers, accelerometers and gyros. These sensors are imperfect and can have manufacturing bias and linearity errors. Additionally, external magnetic disturbances can cause the magnetometers to make a bad estimate of magnetic north. The IMU has a built-in processing system (Extended Kalman Filter) that attempts to compensate for drift and offsets in the IMU’s sensors and for external magnetic influences. Calibrating the IMU can speed up the internal error correction process.
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