Magnetic heading measurement unit (MHMU) is designed to measure the magnetic field and calculate the magnetic heading of the UAV based on the obtained data. The unit contains an array of 3-axis magnetoresistive sensors, the data from which are compared, averaged, checked for falling into the confidence interval, the effect of local distortions of the magnetic field is compensated, and brought to the horizon taking into account the calculated sensor position using MEMS sensors of linear acceleration
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