Design of rotation modulation AHRS based on MEMS sensor
Xu Yefeng1, Lü Yanhong1, Qiu Haitao2*
1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. Beijing Aerospace Control Device Institute, Beijing 100854, China
In order to achieve a high-precision, low-cost attitude and heading reference system (AHRS),the approach of using rotation modulation technology based on low-performance micro electronic mechanical system (MEMS) gyro was proposed. Quaternion and three sub-sample algorithms were used to calculate the heading and attitude angles. Two kinds of alignment modes, self alignment and rapid alignment could be alternated. The self alignment was accomplished by Kalman filter based on velocity observation. The heading alignment accuracy would be better than 5° by using MEMS gyro with the drift about 30(°)/h. When the rapid alignment solution was used, the heading was provided by magnetic compass and the accuracy would be better than 0.4° when the magnetic compass deviation was compensated. Static and dynamic experiments results show that the rotation modulation approach can improve the precision of MEMS gyro by about 30 times, the output accuracy of the system is better than 1° within 1 h.
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