Low-Cost MEMS AHRS Design for an Autonomous Boat at Various Sea Situations

It is of particular importance to determine attitude accuratelyand cost-effectively for the autonomous boats. This paperpresents design of an attitude and heading reference system(AHRS) based on low-cost MEMS sensor. Complementaryfiltering in the form of feedback control system with PIcontroller is used to estimate the attitude by fusion of highfrequencyand low-frequency signals. Some effectivecalibration and filtering algorithms are developed toovercome the shortcomings of MEMS sensors such asaccelerometer bias and gyro drift. In addition, for calibratingof hard iron and soft iron in magnetometer, the calibrationstrategy based on kalman filtering is presented. A switchingapproach is developed to filter the accelerated motions anddistortion in the magnetic field. Finally, experimental resultsat various sea situations have proved acceptable performanceof this AHRS design.

کلیدواژه ها:

AHRS ، MEMS ، Complementary filter ، Kalmanfilter ، Various Sea Situations