“…where n is the total number of GPS devices, idealValue is the IDEAL weight value from CnW-S1, h fused is the fused EC and GPS heading value, h allGPS is the fused calculated heading for all the "n" number of GPS, w allGPS is the weight given to calculated combined GPS heading, h EC is the measured EC heading, w EC is the weight given to EC heading, w i is the weight given to "i th " GPS, h i is the calculated FAz heading of "i th " GPS, and * h fused is labeled as "GPSEC_yaw" in the later parts of algorithm and it will also be used in lieu of GPSn_FAz during the EKF stage when GPS data is invalid. The controllability and observability of the extended Kalman filter or Kalman filter have been extensively researched and proven in several works such as those by Elizabeth and Jothilakshmi [45], Kamrani et al [46], and Southall et al [47]. The dynamic and measurement models which are nonlinear in nature are as follows:…”