Design of an MEMS-Based Distributed and Low Level AHPRS

An attitude heading and position reference system(AHPRS)was constructed based on MEMS gyroscope,accelerometer,magnetometer and GPS receiver in this paper.Firstly,the attitude and heading reference system was composed of attitude estimation Kalman filter and assisted Kalman filter.The deviation of the attitude estimation due to the rigid motion of the aircraft was compensated periodically by the assisted filter.Secondly,the navigation Kalman filter was established by importing the former attitude error estimation using the concept of the distributed Kalman filter,and the level of the navigation filter equation was effectively reduced and the high performance demand of the attitude estimation computer was not needed.Finally,the large error of the attitude estimation in dynamic states was reduced significantly,as demonstrated in simulation and flight test which indicates that AHPRS can enhance the precision of attitude and position estimation of the strapdown navigation system.