Method for estimating, or at least for generating information usable to estimate, the heading of at least one axis of interest of a rigid body, wherein the rigid body is equipped with an antenna of a navigation satellite system receiver, hereinafter abbreviated as "NSS receiver", wherein the antenna's phase center is located at a point, hereinafter referred to as "point B", which is away from another point, hereinafter referred to as "point A", wherein point A is either a point of the rigid body or a point being at a fixed position with respect to the rigid body, and wherein the rigid body is further equipped with sensor equipment comprising at least one of: a gyroscope, and an angle sensor measuring the rotation of the rigid body about an Earth-fixed axis, the method comprising: subjecting (s10a) the rigid body to a motion causing point B's horizontal position to change while keeping point A's position fixed relative to the Earth; and observing (s20a), by the NSS receiver, a NSS signal from each of a plurality of NSS satellites during said motion; wherein the method further comprises the following operations, carried out by at least one of: the NSS receiver, the sensor equipment, and a processing entity capable of receiving data from the NSS receiver and sensor equipment: estimating (s30a) the orientation, during said motion, of a body frame of the rigid body with respect to a reference frame based on data from the sensor equipment; computing (s40a) at least two coordinates of a velocity vector, in the reference frame, of point B, based on the estimated orientation and on data from the sensor equipment, said velocity vector being hereinafter referred to as "sensor-based velocity vector", and the at least two coordinates being two coordinates containing information about the motion of point B in two independent directions in the local horizontal plane; and based on the at least two coordinates of the sensor-based velocity vector and on the NSS signals observed during said motion, at least one of: generating (s50a) information usable to estimate the heading of the at least one axis of interest, wherein the generated information comprises: an estimated error in the orientation of the body frame with respect to the reference frame, or an estimated wander angle of the reference frame being a wander frame with unknown wander angle; and estimating (s60a) the heading of the at least one axis of interest. a gyroscope, and an angle sensor measuring the rotation of the rigid body about an Earth-fixed axis, subjecting (s10a) the rigid body to a motion causing point B's horizontal position to change while keeping point A's position fixed relative to the Earth; and observing (s20a), by the NSS receiver, a NSS signal from each of a plurality of NSS satellites during said motion; estimating (s30a) the orientation, during said motion, of a body frame of the rigid body with respect to a reference frame based on data from the sensor equipment; computing (s40a) at least two coordinates of a velocity vector, in the reference frame, of point B, based on the estimated orientation and on data from the sensor equipment, said velocity vector being hereinafter referred to as "sensor-based velocity vector", and the at least two coordinates being two coordinates containing information about the motion of point B in two independent directions in the local horizontal plane; and based on the at least two coordinates of the sensor-based velocity vector and on the NSS signals observed during said motion, at least one of: generating (s50a) information usable to estimate the heading of the at least one axis of interest, wherein the generated information comprises: an estimated error in the orientation of the body frame with respect to the reference frame, or an estimated wander angle of the reference frame being a wander frame with unknown wander angle; and estimating (s60a) the heading of the at least one axis of interest. generating (s50a) information usable to estimate the heading of the at least one axis of interest, wherein the generated information comprises: an estimated error in the orientation of the body frame with respect to the reference frame, or an estimated wander angle of the reference frame being a wander frame with unknown wander angle; and an estimated error in the orientation of the body frame with respect to the reference frame, or an estimated wander angle of the reference frame being a wander frame with unknown wander angle; and estimating (s60a) the heading of the at least one axis of interest.