ORIENTATION ESTIMATION AND POSE PARAMETERS ESTIMATION METHODS AND SYSTEMS

Some embodiments of the invention pertain to methods for orientation estimation or at least for generating information based on which orientation estimation can be derived, and to methods for pose parameters estimation or at least for generating information based on which pose parameters estimation can be derived. The methods may comprise operating an IMU (120, 220), operating a sensor (160, 260) and/or acquiring an initial estimate (170, 270), operating an external gyroscope (180) or external accelerometer (280) if available and activated, and operating an estimator (140, 240) using state variables with values computed based on information provided thereto. Data from the external gyroscope (180) or accelerometer (280) may be provided as a data stream that need not be synchronized in time with provided IMU-based information. Systems, vehicles, survey poles, computer programs, and computer program products for using and/or carrying out such methods are also disclosed, among other things and features.