Development of attitude and heading reference systems

The development of an attitude and heading reference system (AHRS) using sensor fusion is presented in this paper. The system consists of a nine degree of freedom inertial measurement unit (IMU) and a digital signal processor (DSP) module. The IMU comprises with triaxial gyroscopes, triaxial acceler...

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Veröffentlicht in:2015 International Automatic Control Conference (CACS) S. 13 - 18
Hauptverfasser: Yen-Hsiang Huang, Rizal, Yusie, Ming-Tzu Ho
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.11.2015
Schlagworte:
Acceleration
Accelerometers
complementary filter
gain-scheduled complementary filter
Inertial measurement unit (IMU)
Kalman filter
Manganese
Q measurement
Rotation measurement
sensor fusion algorithms
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Zusammenfassung:The development of an attitude and heading reference system (AHRS) using sensor fusion is presented in this paper. The system consists of a nine degree of freedom inertial measurement unit (IMU) and a digital signal processor (DSP) module. The IMU comprises with triaxial gyroscopes, triaxial accelerometers, and triaxial magnetometers. By using the complementary filter, gain-scheduled complementary filter, and Kalman filter, the sensor fusion algorithms are implemented for the AHRS system. To verify the performance of the developed system, an experimental testbed of three-axis rotating platform is designed and constructed for experimental studies. It is shown that the robust performance can be obtained even though the system is in a dynamic state in the presence of a strong acceleration.
DOI:10.1109/CACS.2015.7378358