MicroInfinity Rona® is an Attitude Estimation System with improved yaw angle accuracy for mobile robot. Most of the mobile robots require an internal navigation system capable of controlling and guiding the robot and Rona® meets those requirements. Rona® uses MEMS (Micro-Electro-Mechanical System) based inertial sensors and optimized estimation algorithm to calculate the attitude (Roll, Pitch) and Modified Extended Kalman Filter to reduce yaw angle error. Using an optional GPS (Global Positioning System), MicroInfinity Rona® can uses a GPS to estimate the position of the mobile robot at outdoor environments. MicroInfinity Rona® shows highly improved angle estimation using sophisticated filtering algorithms. MicroInfinity strongly recommends Rona® for yaw angle estimation, self-controlling and guiding subsystem and simplified navigation subsystem in mobile robot applications.