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85-
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Detailed Description
The signals from three solid state angular rate sensors are coordinate transformed and then integrated to produce attitude and heading outputs that reflect normal aircraft attitude coordinates. These attitude and heading signals are compared against a triaxial accelerometer and a triaxial fluxgate magnetometer to derive gyro drift error. These errors are filtered over a long time constant and are used to adjust biases in the system so that the long-term convergence of the system is to the vertical references and the magnetic heading reference. A velocity input is used to calculate compensations for centrifugal forces and velocity changes on the vertical reference to improve the overall stability and accuracy of the attitude and heading data.
This is a microprocessor-based system using a 16 bit A/D converter, a 12 bit D/A converter and an RS-232 interface. The microprocessor has stored parameters for all the sensor inputs to correct bias, scale factor, axis alignment, and others. The analog attitude and heading outputs are updated 71.11 times per second. The serial interface is highly configurable and provides access to almost all operational parameters.
Applications:
The AHRS-E304 is useful for land, sea and airborne applications. It can be used to drive an attitude indicator flight display, for control and stabilization of remote piloted subs or aerial vehicles, and for robotics research and road surface measurement.
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