GPS/ Gyro Heading error estimation Kalman Filter

Other Hardware Sensors
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Hi everybody,

I am working on a outdoor robot project and having problem with heading angle. When I try to use 9DOF imu, I am having problem because of motor which affects magnotometer filed and makes incorrect measurements. I made lots of search on the internet and people says GPS/ INS integration with kalman filter. But all the examples for velocity. I found a kalmanfilter library on Arduino and that works with MPU-6050 which is from TKJ electronic. I have a GPS receiver which gives me heading angle with error and I have gyro installed on it which has drift error. How can I apply kalman filtering to reduce error.
Thanks

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Fix that by calibrating the magnetometer in place, on your robot. No filter can make the needed correction.

Simple tutorial (not in place): Advanced hard and soft iron magnetometer calibration for dummies - Blogs - diydrones

Advanced, more accurate tutorial: Tutorial: How to calibrate a compass (and accelerometer) with Arduino | Underwater Arduino Data Loggers

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We have calibrated the sensor on robot and it work normally in office, but when I go outside, it is affected by something I can't figure out(maybe bluetooth module ,wifi or GPRS signal). So we decided to use gnss heading, gyro data fusion to correct heading angle.

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