A method for guiding a terrestrial vehicle along a desired path, comprising: receiving a position signal from a global navigation satellite system (GNSS) antenna mounted at a first location on the terrestrial vehicle , the position signal being indicative of a spatial position of the GNSS antenna as indicated by the GNSS; receiving a gyro signal from a gyro sensor , the gyro signal being indicative of: (i) at least one of a pitch and a roll of the terrestrial vehicle , and (ii) a gyro-based heading direction; determining a position of a point of interest of the terrestrial vehicle at a second location capable of traveling along a different heading direction from the first location, based on the position signal, the gyro signal, and a positional relationship between the first location and the second location, wherein the position of the point of interest of the terrestrial vehicle is determined with respect to a surface upon which the terrestrial vehicle is positioned and corrected for at least one of the pitch and the roll of the terrestrial vehicle ; determining a position-based heading direction of the point of interest of the terrestrial vehicle based on the determined position of the point of interest and at least one previously determined position of the point of interest ; determining a calibrated heading direction based on a combination of the gyro-based heading direction and the position-based heading direction; and outputting a control signal based on the position of the point of interest , the calibrated heading direction, and the desired path, the control signal configured to be used to assist with guiding the terrestrial vehicle such that the position of the point of interest is on the desired path. receiving a position signal from a global navigation satellite system (GNSS) antenna mounted at a first location on the terrestrial vehicle , the position signal being indicative of a spatial position of the GNSS antenna as indicated by the GNSS; receiving a gyro signal from a gyro sensor , the gyro signal being indicative of: (i) at least one of a pitch and a roll of the terrestrial vehicle , and (ii) a gyro-based heading direction; determining a position of a point of interest of the terrestrial vehicle at a second location capable of traveling along a different heading direction from the first location, based on the position signal, the gyro signal, and a positional relationship between the first location and the second location, wherein the position of the point of interest of the terrestrial vehicle is determined with respect to a surface upon which the terrestrial vehicle is positioned and corrected for at least one of the pitch and the roll of the terrestrial vehicle ; determining a position-based heading direction of the point of interest of the terrestrial vehicle based on the determined position of the point of interest and at least one previously determined position of the point of interest ; determining a calibrated heading direction based on a combination of the gyro-based heading direction and the position-based heading direction; and outputting a control signal based on the position of the point of interest , the calibrated heading direction, and the desired path, the control signal configured to be used to assist with guiding the terrestrial vehicle such that the position of the point of interest is on the desired path. <EOS>