Research On Embedded Attitude Heading Reference System Based On Micro Inertial Navigation

Embedded Attitude Heading Reference System (AHRS) is a device which can use the micro-inertial sensors including three-axis gyroscope, three-axis accelerometer and three-axis magnetometer as a combination of micro inertial measurement unit (MIMU), then deal with these collected MIMU data in a real-time embedded processor, and finally calculate the current attitude angle and heading angle according to the sins attitude algorithm for multi-sensor data fusion. With the micro mechanical systems (MEMS) technology developing, the micro inertial sensors are widely used in the strapdown inertial navigation systems by the advantages of small size, low power consumption, light weight, fast response, high sensitivity, low price and so on. And embedded attitude heading reference system based on micro-inertial navigation has become a research focus in recent years.This paper presents the complete embedded AHRS design theory and methods based on micro-inertial navigation, and then details the various strapdown inertial navigation attitude updating algorithm, attitude calculating algorithm and Kalman filter algorithm. The paper has firstly designed a platform used for the embedded AHRS research and development, which uses the inertial device ADIS16405 as the attitude sensor and DSP TMS320F28335 as the embedded microprocessor. Based on the proposed research platform, the paper uses a creative data fusion algorithm to compute attitude, that uses the MARG algorithm in static state and uses the Runge-Kutta algorithm in motion state. After completing the theoretical algorithm and practical data validation, the AHRS research platform can combine with the MATLAB simulation environment, which achieve a seamless interface between the theoretical simulation and real research platform. Finally, the paper has achieved a complete design of a miniature embedded AHRS application platform, which uses the MEMS-based three-axis gyro sensor, three-axis accelerometer and three-axis magnetometer as the inertial devices, and uses STM32 microcontroller based on ARM Cortex-M3 core as the attitude calculation unit. However, the whole embedded AHRS cannot be used in the civil practical applications until the completion of the design of communication protocol and user interface customization. The experiment results show that the design of AHRS research and development platform can greatly speed up the practical AHRS product development progress, which has a strong reference value on embedded attitude heading reference system research and development based on micro inertial navigation.