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Add GNSS position fusion details to documentation (#25900)

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Ryan Johnston 2025-11-18 23:23:48 -06:00 committed by GitHub
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docs/en/gps_compass/index.md
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@ -196,6 +196,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH
EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.
### GNSS Position Fusion
GNSS position fusion will not begin until yaw alignment is established.
If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
This behavior prevents large position errors that could occur when the yaw reference is uncertain.
## Developer Information
- GPS/RTK-GPS