Implementation of INS in Three Dimensional Space using Mems based Ahrs

Abstract

Inertial Navigation System (INS) is required for implementing point to coordinate and target coordinate calculation. INS is used to update the position of Gimbal Payload Assembly (GPA) in three dimensional space.INS will provide accurate attitude, position and velocity of the system.INS shall be of light weight and shall be in small size to accommodate with in the gimbal assembly. Micro Electro Mechanical System (MEMS) based Attitude Heading Reference System (AHRS) and related processing electronics in used to meet weight and volume requirement. AHRS consists of MEMS based triaxial accelerometer, triaxial gyro, triaxial magnetometer and temperature sensor. AHRS will provide the basic information i.e acceleration & angle rates (or) delta angle & delta velocity vectors of the system. An algorthim to be developed to get the attitude and orientation of GPA in North East Down(NED) frame using Texas Instrument (TI) makes TMS320F2812 DSP Processor and AHRS. In this paper distance travelled by the system can be calculated by using MEMS based AHRS.