Ideas for Future Development

IMU

Compass

Basic calibration system Fixes elliptical response surface to be a sphere, by moving the sensor in a figure 8 pattern.

Gryo

Complementary filter to remove drift Using a complementary filter will allow getting the direction of gravity (down). This can be used to generate a plane to project the magnetometer vector onto. This will generate a vector that can be used to calculate the heading (and pitch). Combining the heading and down vector gives the sub's orientation in space relative to the earths gravitation and and magnetic fields. Using a magnetic field calculator a path can be planned out using google earth for headings.