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Sensors 2014, 14(10), 18075-18095; doi:10.3390/s141018075

Attitude Heading Reference System Using MEMS Inertial Sensors with Dual-Axis Rotation

College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China
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Received: 14 August 2014 / Revised: 22 September 2014 / Accepted: 23 September 2014 / Published: 29 September 2014
(This article belongs to the Special Issue Modeling, Testing and Reliability Issues in MEMS Engineering)
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Abstract

This paper proposes a low cost and small size attitude and heading reference system based on MEMS inertial sensors. A dual-axis rotation structure with a proper rotary scheme according to the design principles is applied in the system to compensate for the attitude and heading drift caused by the large gyroscope biases. An optimization algorithm is applied to compensate for the installation angle error between the body frame and the rotation table’s frame. Simulations and experiments are carried out to evaluate the performance of the AHRS. The results show that the proper rotation could significantly reduce the attitude and heading drifts. Moreover, the new AHRS is not affected by magnetic interference. After the rotation, the attitude and heading are almost just oscillating in a range. The attitude error is about 3° and the heading error is less than 3° which are at least 5 times better than the non-rotation condition. View Full-Text
Keywords: AHRS; attitude sensor; MEMS inertial sensor; error compensation AHRS; attitude sensor; MEMS inertial sensor; error compensation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Kang, L.; Ye, L.; Song, K.; Zhou, Y. Attitude Heading Reference System Using MEMS Inertial Sensors with Dual-Axis Rotation. Sensors 2014, 14, 18075-18095.

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