ADAPTIVE ALGORITHM FOR PROCESSING DATA OF AN AHRS WITH TWO UNITS OF MICROMECHANICAL GYROSCOPES

摘要

The problem statement of the adaptive algorithm for processing data of an attitude and heading reference system (AHRS) with two micromechanical (MEMS) inertial measurement units (IMU) is formulated in this paper. The system prototype with the use of two units of MPU6050 is also developed here to evaluate the performance of the adaptive algorithm. Experiments results show the possibility of estimating the intensity of the system noise for gyro biases both on the static and dynamic bases. The errors in determining the attitude and heading angles do not exceed 8 degrees during one hour of autonomous operation, which in turn confirms the effectiveness of the considered adaptive algorithms.