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Development of a Low-Cost Attitude and Heading Reference System Using a Three-Axis Rotating Platform
Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan, 701, Taiwan
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Received: 12 January 2010; in revised form: 3 March 2010 / Accepted: 19 March 2010 / Published: 24 March 2010
Abstract: A development procedure for a low-cost attitude and heading reference system (AHRS) with a self-developed three-axis rotating platform has been proposed. The AHRS consists of one 3-axis accelerometer, three single-axis gyroscopes, and one 3-axis digital compass. Both the accelerometer and gyroscope triads are based on micro electro-mechanical system (MEMS) technology, and the digital compass is based on anisotropic-magnetoresistive (AMR) technology. The calibrations for each sensor triad are readily accomplished by using the scalar calibration and the least squares methods. The platform is suitable for the calibration and validation of the low-cost AHRS and it is affordable for most laboratories. With the calibrated parameters and data fusion algorithm for the orientation estimation, the self-developed AHRS demonstrates the capabilities of compensating for the sensor errors and outputting the estimated orientation in real-time. The validation results show that the estimated orientations of the developed AHRS are within the acceptable region. This verifies the practicability of the proposed development procedure.
Keywords: attitude and heading reference system (AHRS); calibration; micro electro-mechanical system (MEMS); anisotropic-magnetoresistive (AMR)
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Lai, Y.-C.; Jan, S.-S.; Hsiao, F.-B. Development of a Low-Cost Attitude and Heading Reference System Using a Three-Axis Rotating Platform. Sensors 2010, 10, 2472-2491.
Lai Y-C, Jan S-S, Hsiao F-B. Development of a Low-Cost Attitude and Heading Reference System Using a Three-Axis Rotating Platform. Sensors. 2010; 10(4):2472-2491.
Lai, Ying-Chih; Jan, Shau-Shiun; Hsiao, Fei-Bin. 2010. "Development of a Low-Cost Attitude and Heading Reference System Using a Three-Axis Rotating Platform." Sensors 10, no. 4: 2472-2491.