#$%^&*AU2019268055A120191205.pdf#####ABSTRACT A method for guiding a terrestrial vehicle along a desired path can include receiving a position signal from a global navigation satellite system (GNSS) antenna and a gyro signal from a gyro sensor that is indicative of: (i) at least one of a pitch and a roll 5 of the terrestrial vehicle, and (ii) a gyro-based heading direction. A position of a point of interest of the terrestrial vehicle at a location different from the GNSS antenna can be determined based on the position signal, the gyro signal, and a positional relationship between the GNSS antenna location and the location of the point of interest. A position-based heading direction of the point of interest of the terrestrial 0 vehicle can be determined based on the determined position of the point of interest and at least one previously determined position of the point of interest. A calibrated heading direction can be determined based on a combination of the gyro-based heading direction and the position-based heading direction.- 1/5 ':I r 4 6 111111111
