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An attitude and heading reference system (AHRS) is a combination of instruments capable of maintaining an accurate estimate of the vehicle roll , pitch , and yaw as the vehicle maneuvers Various AHRS design approaches are reviewed in 9 of [78] This chapter considers a single approach wherein gyro outputs are integrated through the attitude kinematic equations and aided with accelerometer (ie, gravity direction in body frame) and magnetometer (ie, Earth magnetic eld in body frame) measurements The vehicle attitude describes the relative orientation of the axes of the body (b-frame) and navigation (n-frame) frames-of-reference This book describes three equivalent attitude representations Each attitude representation could be used to implement the method of this chapter: integration of eqn (254) yields the direction cosine matrix from which the Euler angles could be computed by eqns (245 247); integration of eqn (274) yields the Euler angles directly; or, integration of eqn (D28) yields the quaternion representation of the rotational transformation from which the Euler angles could be computed using eqns (D16 D18) All three approaches are theoretically equivalent In this chapter we choose to use the quaternion approach due to its computational e ciency and lack of singularities Various useful quaternion related results are presented in Appendix D A block diagram illustration of the approach described in this chapter is shown in Figure 101 A triad of gyros will measure the angular rate vector b of the b-frame relative to the i-frame represented in the b-frame Inteib gration of the gyro measurements through the attitude kinematics yields the rotation matrix Rn from which the Euler angles can be computed Body b frame accelerometer and magnetometer measurements are transformed to the navigation frame to predict the known Earth gravitational acceleration and magnetic eld vectors A Kalman lter uses the residual measurements to estimate the attitude error and sensor calibration factors Due to the 353. asp.net pdf viewer ASP . NET MVC PDF Viewer | Reliable & Responsive UI | Syncfusion
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