会议专题

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

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.

MEMS gyroscope MEMS accelerometer,magnetometer AHRS Kalman filter

Cheng Xu Peng Zong

College of Astronautics,Nanjing University of Aeronautics and Astronautics

国际会议

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)

青岛

英文

323-326

2009-11-21(万方平台首次上网日期,不代表论文的发表时间)