A Low-cost Attitude and Heading Reference System by Combination of MEMS Inertial Sensors and Magnetometers

摘要：

This paper describes a prototype system for attitude and heading determination which is integrated with a 3-axis MEMS gyroscope,a 3-axis MEMS accelerometer and a 3-axis solid state magnetometer.Firstly,the features of each sensor used in this system are introduced in detail. Then a novel Kalman filter is used to combine the information from the inertial sensors with the information derived from the magnetic sensor.Subsequently,a algorithm which can calculate the attitude and heading is proposed.In the end,the system was tested under quasi-static condition,the result shows that this system has an accuracy of better than I deg in yaw,pitch and roll.

关键词： MEMS gyroscope MEMS accelerometer,magnetometer AHRS Kalman filter

作者: Cheng Xu Peng Zong

作者单位: College of Astronautics,Nanjing University of Aeronautics and Astronautics

会议类型: 国际会议

会议名称: 2009 International Conference on Information,Electronic and Computer Science(2009 国际信息、电子与计算机工程学术会议)

会议地点: 青岛

会议语种:英文

页码: 323-326

在线出版日期: 2009-11-21（万方平台首次上网日期，不代表论文的发表时间）