<abstract xmlns="http://www.w3.org/1999/xhtml"><p> Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.</p></abstract>

Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.

Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

Reports on Geodesy and Geoinformatics

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular...

Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

Published Online: Jan 23, 2018

Page range: 33 - 47

Received: Apr 08, 2016

Accepted: Sep 26, 2017

DOI: https://doi.org/10.1515/rgg-2017-0013

Keywords
Attitude Alignment, AHRS, Integrated Navigation, GPS/IMU

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

Published Online: Jan 23, 2018

Page range: 33 - 47

Received: Apr 08, 2016

Accepted: Sep 26, 2017

DOI: https://doi.org/10.1515/rgg-2017-0013

KeywordsAttitude Alignment, AHRS, Integrated Navigation, GPS/IMU

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Attitude Alignment, AHRS, Integrated Navigation, GPS/IMU