Abstract
An autonomous method based on the modulation rotation of two inertial measurement units is adopted to address the attitude problem. In this paper, a novel algorithm for processing the measurements of two units during the dynamic motion of an object is proposed to estimate the error components of inertial sensors without additional navigation information including biases, scale factor errors, and misalignment angles. Then a prototype of the attitude and heading reference system (AHRS) consisting of two micromechanical units of the consumer-grade gyro MPU6050 is developed, and its simulation and tests on a turntable are carried out to evaluate the effectiveness of the proposed method. The experimental data have shown that the errors in determining the attitude and heading angles do not exceed 8° during 1 h of autonomous operation. It is concluded that the AHRS designed using the proposed method can improve the accuracy of attitude angles more than five times in comparison with the system including only one MPU6050.
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