To develope an indoor positioning application, I need to calculate heading out of a Rotation matrix (Rzxy), calculated from IMU sensors. However, there is a problem of mirroring at the end of the trajectory(shown at the image), when heading reached to 180degree limit. Is it the singurality problem or could be solved by in the arctan2 manipulation? any solution is welcomed. my current code and result:
Heading = np.arctan2(R[0,1] , R[1,1])
