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The Arsenal defender creaked against Fulham – and should have given away a penalty when compounding his heading error and grappling with Clint Dempsey in the box.
There exist other techniques to reduce the heading error of a PF system.
In the first simulation, the effect of the heading error of the initial mean is tested.
Participants then navigated between ten successive landmarks, and we measured indices of spatial and temporal efficiency, and heading error.
The standard deviation, mean, minimum and maximum of the heading error were 0.008, 0.000, −0.022 and 0.023 rad.
A heading error causes a constant bias regardless of road curvature, making it easy to identify and correct as well.
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All the filtering methods result in similar accuracy with 0° and 45° initial heading errors.
Consequently, future ZUPTs cannot be used to deduce information about the current position and heading errors.
The straight line is the worst case scenario for the dead reckoning, and the position errors will be dominated by errors induced by the heading errors.
In this work, after extracting the error model of an inertial navigation system and augmenting it with the error model of inertial sensors, a processing algorithm based on the Kalman filter is designed and simulated to process the navigation system velocity error, and to estimate and correct tilt and heading errors along with gyro drifts and accelerometer biases.
During line levelling, differences in data values at intersections of traverse lines with tie-lines (cross-over differences) are taken into account to reduce errors arising from data offsets between adjacent survey lines (e.g. heading errors) or imperfect temporal reduction which could otherwise lead to severe artefacts during gridding (Pilkington and Thurston, 2001).
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