The design of attitude heading reference system based on MEMS sensing technology

摘要

In view of the high cost and large volume of the traditional attitude heading reference system (ARHS) applied in the fields of spacecraft, robot and vehicle, a new method based on low cost MEMS sensor for AHRS is proposed. In this algorithm, the quaternion and three gyro drift are chosen as state vector to establish the state equation. At the same time, the components of acceleration of gravity and magnetic field intensity in the body fixed reference are considered as the observation vectors to establish the observation equation. In this algorithm, the earth's magnetic field is compensated by a special method. In order to evaluate the proposed quaternion-based extended Kalman filter algorithm, a micro quadrotor is developed. The results show that the proposed method can obtain the accurate attitude information and can suppress the white noise.