How do I minimise initial orientation drift / initialisation effects

Before using the devices for measurements, you should let them warm up for at tleast 15 minutes. Warming up in this case means that the sensors should be connected to the PC or power supply.

The orientation filter may show some initialisation effects like a fluctuating orientation output immediately after power-up or a filter restart. Within one minute, the filter will usually converge to a stable output. Also refer to the User Manual of your device for additional advice. 

In particular for the MTi-G, it is recommended to maintain position until the device has established a GPS fix. The sensor body may be rotated during this time, but avoid exceeding the measurement range especially during the initialisation time.

Note that the accuracy of the orientation output may improve further after initialisation by fine tuning filter state paramters. This will require the sensor to be moving and may last for up to 15 minutes.

Again particularly for the MTi-G, keep the implications of the individual scenarios in mind. As an example, the scenario General will require measurable accelerations (accleration, decelartion, taking turns), while the scenario Automotive requires a measurable velocity.

If your application requires the motion tracker to be power cycled or the filter to be restarted, use the fucntion storeXkfState to store the bias estimates of the internal sensor to non-volatile memory. This will reduce the initialisation time of your device.