Attitude Heading Reference System: An intuitive engineers perspective
Attitude Heading Reference System Welcome to a blog on development of Attitude Heading Reference system fusion algorithm using Linear Kalman Filter and an IMU (Accelerometer, Gyroscope and Magnetometer). This blog is purely focused on implementation of algorithm in MATLAB using Kalman Filter and not on explaining the basics of AHRS and KF. I have not explained the complete method but have attached the necessary resources through which I developed this fusion algorithm To learn about KF: https://www.kalmanfilter.net/default.aspx (I would recommend going through the complete documentation if you have no idea on KF). To Learn about what AHRS is: https://en.wikipedia.org/wiki/Attitude_and_heading_reference_system An AHRS is a fusion algorithm that fuses accelerometer, gyroscope, and magnetometer data to give us Roll, Pitch and Yaw. I will give you an overview with this image: Roll, Pitch and Yaw (from an Automotive perspective)!!! (Image courtesy: https://www.racecar