Rotation and acceleration based adaptation for attitude and heading reference system

In this paper, a new adaptive method is proposed for Attitude and Heading Reference System (AHRS) using MEMS IMU sensors. In this work, Euler angles calculation using gyro-scope outputs is combined with the estimation of these angles by using accelerometer and magnetometer. Kalman filtering technique is used for this fussion. For the state space equations, proper sensor output model is adopted for MEMS IMUs and a new adaptation method is presented by considering not only the total acceleration of the system, but also the highly dynamic rotations. The designed system is tested and compared with the conventional adaptive AHRS with the same data set which is acquired from a real low-cost MEMS IMU sensor. The results seem to be satisfactory and new adaptation method improves the attitude angle estimation especially when the system makes highly dynamic motions.