A kind of small AHRS is designed based on MEMS gyroscope

accelerometer and magnetic sensor;Kalman-based quaternion attitude and heading resolving method is built using quaternion and angular rate bias as state vector

magnetic field intensity and acceleration information as measurement vector; attitude angel error caused by dynamic acceleration is solved by adjusting measurement noise covariance matrix; gyroscope error modeling and magnetic heading compass error compensation technology are used to further improve measurement precision of system. AHRS has high precision and good stability and dynamics

RMSE of attitude angle is less than1. 5°

and heading angle is less than 3°.