Heuristic reduction of gyro drift in gyro-based vehicle tracking

@inproceedings{Borenstein2009HeuristicRO,
  title={Heuristic reduction of gyro drift in gyro-based vehicle tracking},
  author={Johann Borenstein and Lauro V. Ojeda},
  booktitle={Defense + Commercial Sensing},
  year={2009}
}
This paper pertains to the reduction of measurement errors due to drift in rate gyros used for tracking the position of moving vehicles. In these applications, gyros and odometry are often used to augment GPS when GPS reception is unavailable. Drift in gyros causes the unbounded growth of errors in the estimation of heading, rendering low-cost gyros almost entirely useless in applications that require good accuracy for more than just a few seconds or minutes. Our proposed method, called… 
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