Abstract
An Attitude and Heading Reference System (AHRS) provides orientation information by fusing sensor data from a magnetic and inertial measurement unit (MIMU). A MIMU consists of three components: gyroscope, accelerometer and magnetometer. A basic AHRS approach fuses two complementary components together using a weighted approach. The first component estimates the relative orientation from the gyroscope, and the second component provides the absolute orientation from the accelerometer and the magnetometer. However, the weighting of these two components is critical to obtain the best orientation information. In order to find the optimal weight a genetic algorithm is used for the optimization task. Results obtained via ground-truth simulated MIMU signals with real noise content reveal that the RMSE orientation error (root means squared error) of the Euler angles in degrees can be reduced by a factor of 3.6 (worst RMSE = 10.054 and best RMSE = 2.764 obtained during a GA run).
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
