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Abstract: involve the hardware design of the sensor This will

assembly of AHRS, including 3-axis gyros and accelerometers, preferably MEMS based sensors. The aim of this project is to develop an engineering model for the attitude heading reference system (AHRS) for aerospace application. The gyros will provide 3-axis rate measurement and angular rotation, and accelerometers will measure the linear acceleration forces. An AHRS consists of sensors on 3-axis that provide heading, attitude and yaw information for an aircraft. AHRS are designed to replace the traditional mechanical Click to edit Master subtitle styleand provide better gyroscopic flight instruments reliability and accuracy. The output of the sensors will be converted to digital signals and will be processed by a software algorithm to realize the linear and angular motions.

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Configuration of the self-developed AHRS

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CIRCUIT DIAGRAM OF ACCELEROMETER

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CIRCUIT DIAGRAM OF GYROSCOPE

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Tri-axial Accelerometer RS-232 Digital Output

Tri-axial Gyroscope CPU + EEPROM Calibration Algorithm

Roll, Pitch, Heading Angle

Tri-axial Magnetometer

14-bit A/D

Temp Sensor

12-bit DAC Analog Output

XYZ Acceleratio

AHRS Block Diagram

3 Axis

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PRINCIPLE OF OPERATION:
An accelerometer can sense the acceleration in 3axis , x-y and z-directions.

A gyroscope is a device that measures angular rate about a particular axis, that is rate of change of angle with time.

A magnetometer provides long term gravity and magnetic north reference.

The output data is provided in both analog and digital formats.

Block diagram of the data fusion algorithm

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Data Fusion Algorithm

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Figure shows the block diagram of the data fusion algorithm by using the complementary filter, where and are the estimated roll and pitch angles respectively, and and are the roll and pitch angle rates respectively, which are transformed from the angular rate measured by the gyroscopes This algorithm fuses the data measured from the gyroscope and accelerometer triads to obtain the estimated roll and pitch angles. x, y and z are the angular rates measured by the gyroscopes in body coordinate frame. The blocks labelled as RCF and PCF in Figure represent the roll and pitch complementary filters respectively. ax, ay and az are the components of the acceleration measured by accelerometer in the body coordinate frame.

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ALGORITHM:

Step1: Connect the hardware equipments as shown in the circuit diagram. Step2: Connect the 2-axis gyroscope, 3-axis accelerometer and microcontroller PIC18F4553 On a single platform by using PCB or bread board. Step3: MEMS output is in form of analog. Step4: The output from gyroscope and accelerometer are fed to microcontroller. Step5: The analog output is converted into digital form in microcontroller it consist of 13channel, 12-bit ADC.

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Step6: The output of microcontroller is fed to filter to reduce the noise. Step7: The filtered digital output from microcontroller is given to PC by USB through UART or Bluetooth. Step8: Since we have integrated the hardware on single platform the moment of hardware gives the acceleration and angular rates. Step9: The moment of hardware will be sensed by software program. Step10: Finally we determine the acceleration and angular rates.

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Start
Connect hardware Gyroscop e

accelero meter

Mc pic18F4 553

Digita l signal

Kalma n US filter B PC
S/W PGM

N O

conn ect? YE S Analo g outpu t

N O

FLOWCH ART

Out put? YE S Output through bluetoot h Stop

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This article described the practical approach to the development of an AHRS algorithm. Fusing information from various sensors by means of the Kalman terenables calculation of the stable information about the user device attitude. Experimental results shows that proposed algorithms are valid and fully functional.

CONCLUSIO N:

[1] El-Sheimy N. and X. Niu, The Promise of MEMS to the Navigation Community, Inside GNSS, March/April 2007 [2] Yole Developpement, MEMS Accelerometer, Gyroscope and IMU Market 2008 2013,

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[3] Dixon R. and J. Bouchard, Prospects for References in the Automotive Industry, Think Small MEMS : Feature [4] Bouchard J., Taking the Pulse of the MEMS Industry, Think Small Feature Article, April 2007 [5] Barbour N., subtitle style Click to edit Master Inertial Navigation Sensors (SET 116), NATO Lecture Series SET 116 on Low Cost Navigation Sensors and Integration Technology, March/April 2011.

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Thank you
Click to edit Master subtitle style