Attitude Calculation of AHRS Based on Geomagnetic Field Adaptive Correction

Abstract

In the attitude and heading reference system (AHRS), the output noise of MEMS gyroscope is too large, zero drift can not be eliminated completely, and the output of angular rate is easy to be interfered, which leads to low accuracy and large accumulated error of attitude quaternion and so on. In this paper, an adaptive extended Kalman filter algorithm is proposed based on the information of geophysical field (earth gravity field and geomagnetic field) to continuously and adaptively correct the accumulated error of MEMS gyroscope in attitude calculation. The experimental results via ROS robot platform show that the proposed algorithm can effectively solve the problem of large accumulated error in the process of attitude quaternion solution, and improve the accuracy of attitude calculation, thus the effectiveness of the proposed algorithm is verified.

Keywords

• ahrs
• geomagnetic field
• earth gravity field
• adaptive extended kalman filtering algorithm
• data fusion