Filter settings

Apply additional filtering to the MRU data output based on your application. This may change the data characteristics.

• Enable high-pass filter to heading: Minimize drift in the heading induced by the low frequency part of the signal when no yaw reference is present and the MRU is stationary.

  • Cut-off frequency: Set cut-off frequency based on your application.

    • A high cut-off frequency minimizes the noise on the output signal but introduces significant phase shifts.

    • A low cut-off frequency reduces the phase shift between the input and output signals but allows more noise to pass through.

    • Default value: 2pi/100 [rad/s]

  • Select filter order:

    • 2nd order high-pass filter: 2nd order highpass filter is used to filter yaw estimates.

    • 4th order high-pass filter: 4th order highpass filter is used to filter yaw estimates.

      • Note: A higher order offers a sharper cut-off and more aggressive filtering.

Follow these steps to configure filter settings:

• In the filter section, enable the “high-pass filter to heading” button

• Change cut-off frequency, if needed.

• Select either 2nd order highpass filter or 4th order high-pass filter

• Click Save