Micromechanical attitude and heading reference system for uniaxial wheeled module

Аuthors

Chernomorskii A. I.^*, Maximov V. N.^**, Plekhanov V. E.^***

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: chernomorsсky@yandex.ru
**e-mail: memsdsp@gmail.com
***e-mail: ve_plekhanov@rambler.ru

Abstract

Algorithms and hardware of the MEMS-based attitude and heading reference system for two-wheeled module are developed. Kalman filter and quaternions are used to build integrated system. Modeling of algorithms was performed. Architecture for AHRS hardware was proposed.

Keywords:

AHRS, uniaxial wheeled module, MEMS, Kalman filter, quaternions, digital signal processor