In order to overcome the shortcomings of traditional attitude heading reference system which realize on analogue mechanical desktop

a digital strap-down inertial attitude heading reference system based on MEMS inertial sensor and MEMS magnetic sensor is designed.Combined with quaternion differential equation

a Kalman filter

whose obsered quantities are accelerations and magnetic heading is used to fuse data and modify gyro’s shift.A kind of microsoft high performance embedded operating system is installed in a PC104 industrial module which is used as a navigation computer.The static and tracking test show that this system can be easily operated and meets the required precision of attitude heading reference system well.