Attitude Reference System Based on Three-axis Magnetometers and Three-axis Infrared Level Detectors

摘要

Attitude detection is the basis of navigation and guidance to vehicle motion and it is crucial for stabilizing flight, especially on micro aerial vehicles (MAVs). In this paper a very simple and low cost absolute attitude measurement system based on infrared level detectors and magnetometers is developed, which mainly comprises a 3-axis infrared level detector and a three-axis micro magnetometer. Based on the physical phenomenon that the earth’s surface is typically warmer than the sky, the 3-axis infrared level detector can figure out pitch and roll angles of the MAV. The heading angle of the MAV can be determined by the 3-axis magnetometer. This attitude reference system takes advantages of simple architecture, small size, lightweight, low consumption, and fast start-up without drift. It can implement full-scale range of attitude detection.