Development of Attitude and Heading Reference Systems

Huang, Yen-Hsiang and Rizal, Yusie and Ho, Ming-Tzu (2016) Development of Attitude and Heading Reference Systems. In: International Automatic Control Conference (CACS), 18-20 November 2015, Yilan, Taiwan.

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Abstract

The development of an attitude and heading reference system (AHRS) using sensor fusion is presented in this paper. The system consists of a nine degree of freedom inertial measurement unit (IMU) and a digital signal processor (DSP) module. The IMU comprises with triaxial gyroscopes , triaxial accelerometers , and triaxial magnetometers. By using the complementary filter, gain-scheduled complementary filter, and Kalman filter, the sensor fusion algorithms are implemented for the AHRS system. To verify the performance of the developed system, an experimental testbed of three-axis rotating platform is designed and constructed for experimental studies. It is shown that the robust performance can be obtained even though the system is in a dynamic state in the presence of a strong acceleration.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Inertial measurement unit (IMU), sensor fusion algorithms , complementary filter, gain-scheduled complementary filter, and Kalman filter
Subjects: T Technology > TK Electrical engineering. Electronic Engineering. Nuclear engineering > TK7800 Electronics
Divisions: Jurusan Teknik Elektro > D3 Elektronika
Depositing User: Mr. Yusie Rizal
Date Deposited: 22 Mar 2019 01:32
Last Modified: 22 Mar 2019 01:32
URI: http://repository.poliban.ac.id/id/eprint/222

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