Method to determine initial aiming azimuth accuracy using acceleration, gyroscope, and geomagnetic sensors

Initial aiming azimuth measurement using a geomagnetic sensor is very common, but difficult to use, because the accuracy cannot be determined even in places where geomagnetic disturbance can be compensated. In this letter, we propose a novel algorithm that employs acceleration, gyroscope, and geomagnetic sensor data to determine the accuracy of the initial oriented azimuth. Decision accuracy is 75% for various experiment locations. In the case of a false alarm, it is necessary to move to another location and remeasure, and ultimately the decision accuracy could reach 100%.