UDC 629.052.7
AHRS BASED ON GAUSSIAN PARTIAL FILTER
V. A. Belokurov, PhD, assistant professor, RSREU, Ryazan, This email address is being protected from spambots. You need JavaScript enabled to view it.
In this paper, we consider the use of a Gaussian partial filter in angular orientation of the system on the basis of micromechanical inertial module ADIS16405BMLZ. Purpose - to investigate the possibility of applying a Gaussian partial filter in the system of angular orientation based on micromechanical sensing elements and to compare the results with the known filtering algorithms. Difference between the orientation angles is calculated on the basis of accelerometers, magnetometers and gyroscopes used in the calculation of the weights of partial filters. It was established experimentally that the use of this filter and sobst-governmental quaternions can improve the accuracy of determining orientation angles, both in static-sky, and in dynamic mode. In particular, when the number of filters is 1000 RMS roll assessment with Gaussian- partial filter is
0,095 °, RMS UKF roll assessment is 0,19 °.
Key words: Gaussian partial filter, AHRS, yaw, roll, pitch, MEMS gyro, MEMS accelerometer, MEMS magnetometer.