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3DM
®
-GX5-25
User Manual
4.2 Computed Outputs
(Estimation Filter)
The computed outputs are measurements from the 3DM - GX5 - 25 IMU sensors that are blended
through an Auto-Adaptive Extended Kalman Filter (EKF) algorithm. The Kalman Filter produces a
better estimation of attitude and heading (AHRS) outputs than can be achieved by the inertial sensors
individually. Refer to
Table 3 - Estimation Filter Outputs
for a complete list of outputs.
In the MIP Monitor software there are user-settable options for how the estimations are made. These
settings are available at: Settings > Device > EF. With the Help window open (accessed with the Help
button), mousing over context-sensitive settings provides a detailed explanation of the setting ( Figure
16 - Estimation Filter Settings ).
Figure 16 -Estimation Filter Settings
All of the estimation filter outputs are available to record and most, but not all, are available to view in
real time in MIP Monitor. In addition to the standard attitude and heading (AHRS) solution, additional
filter outputs, such as uncertainties, inertial sensor bias and scale factors, filter status, and physical
models (WGS84, WMM, and SAM) are available ( Table 3 - Estimation Filter Outputs ).
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