diff --git a/launch/xsens_driver.launch b/launch/xsens_driver.launch
index c0478f5..427fe98 100644
--- a/launch/xsens_driver.launch
+++ b/launch/xsens_driver.launch
@@ -4,6 +4,7 @@
     <arg name="baudrate" default="0" doc="baudrate of the IMU"/>
     <arg name="timeout" default="0.002" doc="timeout for the IMU communication"/>
     <arg name="initial_wait" default="0.1" doc="initial wait to allow device to come up"/>
+    <arg name="set_geo_coordinates" default="51.50,-0.0987,0.0" doc="lat, lon, alt needed to compute the North (default London)"/>
     <arg name="frame_id" default="/imu" doc="frame id of the IMU"/>
     <arg name="frame_local" default="ENU" doc="desired frame orientation (ENU, NED or NWU)"/>
     <arg name="no_rotation_duration" default="0" doc="duration (int in seconds) of the no-rotation calibration procedure"/>
@@ -12,16 +13,17 @@
     <arg name="orientation_covariance_diagonal" default="[0.01745, 0.01745, 0.15708]" doc="Diagonal elements of the orientation covariance matrix"/>
 
     <!-- node -->
-	<node pkg="xsens_driver" type="mtnode.py" name="xsens_driver" output="screen" >
-		<param name="device" value="$(arg device)"/>
-		<param name="baudrate" value="$(arg baudrate)"/>
-		<param name="timeout" value="$(arg timeout)"/>
-		<param name="initial_wait" value="$(arg initial_wait)"/>
-		<param name="frame_id" value="$(arg frame_id)"/>
-		<param name="frame_local" value="$(arg frame_local)"/>
-		<param name="no_rotation_duration" value="$(arg no_rotation_duration)"/>
-		<rosparam param="angular_velocity_covariance_diagonal" subst_value="True">$(arg angular_velocity_covariance_diagonal)</rosparam>
-		<rosparam param="linear_acceleration_covariance_diagonal" subst_value="True">$(arg linear_acceleration_covariance_diagonal)</rosparam>
-		<rosparam param="orientation_covariance_diagonal" subst_value="True">$(arg orientation_covariance_diagonal)</rosparam>
-	</node>
-</launch>
+    <node pkg="xsens_driver" type="mtnode.py" name="xsens_driver" output="screen" >
+        <param name="device" value="$(arg device)"/>
+        <param name="baudrate" value="$(arg baudrate)"/>
+        <param name="timeout" value="$(arg timeout)"/>
+        <param name="initial_wait" value="$(arg initial_wait)"/>
+        <param name="set_geo_coordinates" value="$(arg set_geo_coordinates)" />
+        <param name="frame_id" value="$(arg frame_id)"/>
+        <param name="frame_local" value="$(arg frame_local)"/>
+        <param name="no_rotation_duration" value="$(arg no_rotation_duration)"/>
+        <rosparam param="angular_velocity_covariance_diagonal" subst_value="True">$(arg angular_velocity_covariance_diagonal)</rosparam>
+        <rosparam param="linear_acceleration_covariance_diagonal" subst_value="True">$(arg linear_acceleration_covariance_diagonal)</rosparam>
+        <rosparam param="orientation_covariance_diagonal" subst_value="True">$(arg orientation_covariance_diagonal)</rosparam>
+    </node>
+</launch>
\ No newline at end of file
diff --git a/nodes/mtnode.py b/nodes/mtnode.py
index 2d21c99..708a024 100755
--- a/nodes/mtnode.py
+++ b/nodes/mtnode.py
@@ -57,6 +57,7 @@ def __init__(self):
         baudrate = get_param('~baudrate', 0)
         timeout = get_param('~timeout', 0.002)
         initial_wait = get_param('~initial_wait', 0.1)
+        set_geo_coordinates = get_param('~set_geo_coordinates', '51.5,-0.09,0.0')
         if device == 'auto':
             devs = mtdevice.find_devices(timeout=timeout,
                                          initial_wait=initial_wait)
@@ -80,6 +81,15 @@ def __init__(self):
         self.mt = mtdevice.MTDevice(device, baudrate, timeout,
                                     initial_wait=initial_wait)
 
+        if set_geo_coordinates:
+            coords = set_geo_coordinates.split(",")
+            if len(coords) != 3:
+                raise RuntimeError("set_geo_coordinates wrongly formatted: " \
+                                   "can only take 3 values comma separated")
+            lat, lng, alt = float(coords[0]), float(coords[1]), float(coords[2])
+            rospy.loginfo("Setting Lat, Lng, Alt: %f, %f, %f" % (lat, lng, alt))
+            self.mt.SetLatLonAlt(lat, lng, alt)
+
         # optional no rotation procedure for internal calibration of biases
         # (only mark iv devices)
         no_rotation_duration = get_param('~no_rotation_duration', 0)