Volume 36 Issue 11
Nov.  2010
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Xu Yefeng, Lü Yanhong, Qiu Haitaoet al. Design of rotation modulation AHRS based on MEMS sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(11): 1343-1347. (in Chinese)
Citation: Xu Yefeng, Lü Yanhong, Qiu Haitaoet al. Design of rotation modulation AHRS based on MEMS sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(11): 1343-1347. (in Chinese)

Design of rotation modulation AHRS based on MEMS sensor

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  • Corresponding author: Xu Yefeng
  • Received Date: 09 Oct 2009
  • Publish Date: 30 Nov 2010
  • 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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