A Low-cost Attitude and Heading Reference System by Combination of MEMS Inertial Sensors and Magnetometers

摘要

This paper describes a prototype system for attitude and heading determination which is integrated with a 3-axis MEMS gyroscope,a 3-axis MEMS accelerometer and a 3-axis solid state magnetometer.Firstly,the features of each sensor used in this system are introduced in detail. Then a novel Kalman filter is used to combine the information from the inertial sensors with the information derived from the magnetic sensor.Subsequently,a algorithm which can calculate the attitude and heading is proposed.In the end,the system was tested under quasi-static condition,the result shows that this system has an accuracy of better than I deg in yaw,pitch and roll.