Abstract:

The paper proposes the design of AHRS based on solidstate sensors,  introduces an attitude angle solution method using quaternion, and designs  a multisensor fusion Kalman filter. The simulation results show that the algorithm can meet the precision index of the system, and at the same time can estimate the gyro drift effectively. We design a  hardware system based on processor TMS320F28335, and the experimental results show that the design can meet the AHRS requirements on accuracy and speed.

Key words: inertial navigation;solidstate sensor;Kalman filtering