A method for recording, processing and transmitting data from a mobile asset, comprising the steps of: a. providing at least one inertial navigation sensor board onboard the mobile asset, the board comprising a microcontroller communicating with and processing data from a 3-axis accelerometer; b. reading an x-axis raw acceleration value (Ax), a y-axis raw acceleration value (Ay), and a z-axis raw acceleration value (Az) from the 3-axis accelerometer; c. filtering, using a low-pass filter, the x-axis raw acceleration value, the y-axis raw acceleration value, and the z-axis raw acceleration value into an x-axis filtered acceleration value (Afx), a y-axis filtered acceleration value (Afy), and a z-axis filtered acceleration value (Afz); d. translating the inertial navigation sensor board's axes comprising the x-axis filtered acceleration value, the y-axis filtered acceleration value, and the z-axis filtered acceleration value to the mobile asset's axes, to determine an x-axis translated filtered acceleration value (Af'x), a y-axis translated filtered acceleration value (Af'y), and a z-axis translated filtered acceleration value (Af'z); e. providing at least one 3-axis magnetometer communicating with the microcontroller of the inertial navigation sensor board, said microcontroller processing a magnetometer data signal from the 3-axis magnetometer; f. calculating the mobile asset's pitch, wherein the mobile asset's pitch is determined by applying the equation: arctan x − axis translated filtered acceleration value z − axis translated filtered acceleration value; g. calculating the mobile asset's roll, wherein the mobile asset's roll is determined by applying the equation: arctan y − axis translated filtered acceleration value z − axis translated filtered acceleration value; h. calculating the mobile asset's speed, wherein the mobile asset's speed is determined by applying the equation: ∫ asset ′ s acceleration x − axis translated filtered acceleration value; i. determining an x-axis gauss value (Gx), a y-axis gauss value (Gy), and a z-axis gauss value (Gz) based on the magnetometer data signal; and j. calculating a tilt compensated heading using the x-axis gauss value, the y-axis gauss value, and the z-axis gauss value, the mobile asset's pitch, and the mobile asset's roll. a. providing at least one inertial navigation sensor board onboard the mobile asset, the board comprising a microcontroller communicating with and processing data from a 3-axis accelerometer; b. reading an x-axis raw acceleration value (Ax), a y-axis raw acceleration value (Ay), and a z-axis raw acceleration value (Az) from the 3-axis accelerometer; c. filtering, using a low-pass filter, the x-axis raw acceleration value, the y-axis raw acceleration value, and the z-axis raw acceleration value into an x-axis filtered acceleration value (Afx), a y-axis filtered acceleration value (Afy), and a z-axis filtered acceleration value (Afz); d. translating the inertial navigation sensor board's axes comprising the x-axis filtered acceleration value, the y-axis filtered acceleration value, and the z-axis filtered acceleration value to the mobile asset's axes, to determine an x-axis translated filtered acceleration value (Af'x), a y-axis translated filtered acceleration value (Af'y), and a z-axis translated filtered acceleration value (Af'z); e. providing at least one 3-axis magnetometer communicating with the microcontroller of the inertial navigation sensor board, said microcontroller processing a magnetometer data signal from the 3-axis magnetometer; f. calculating the mobile asset's pitch, wherein the mobile asset's pitch is determined by applying the equation: arctan x − axis translated filtered acceleration value z − axis translated filtered acceleration value; g. calculating the mobile asset's roll, wherein the mobile asset's roll is determined by applying the equation: arctan y − axis translated filtered acceleration value z − axis translated filtered acceleration value; h. calculating the mobile asset's speed, wherein the mobile asset's speed is determined by applying the equation: ∫ asset ′ s acceleration x − axis translated filtered acceleration value; i. determining an x-axis gauss value (Gx), a y-axis gauss value (Gy), and a z-axis gauss value (Gz) based on the magnetometer data signal; and j. calculating a tilt compensated heading using the x-axis gauss value, the y-axis gauss value, and the z-axis gauss value, the mobile asset's pitch, and the mobile asset's roll.