An algorithm for low-cost AHRS added with the earth”s magnetic model
This paper presents a novel attitude algorithm with assistant of earth”s magnetic model,which is applicable to AHRS (Attitude and Heading Reference System).The majority of AHRS algorithms consider that the earth”s magnetic field have component in one horizontal axis and the vertical axis,which does not meet practical situation.This algorithm builds a relatively accurate model of the earth”s magnetic field on the basis of the IGRF (International Geomagnetic Reference Field) model.The algorithm can be used to estimate the orientation of users or devices.This paper use Extended Kalman filter to estimate the attitude and heading information,performance has been evaluated by the data obtained by trajectory generation.
AHRS IGRF Kalman filter
Mengyuan Wang Long Zhao
Beihang University, Beijing, China
国内会议
长沙
英文
1-10
2016-05-01（万方平台首次上网日期，不代表论文的发表时间）