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Tri-axial linear accelerometers are key components in a great variety of applications and, in particular, in navigation systems. Nonidealities such as scale factors, cross coupling, bias, and other higher-order nonlinearities affect the output of this sensor, leading, in general, to prohibitive errors. On the other hand, these coefficients are often slowly time-varying, which renders offline calibration...
This paper presents the design and performance evaluation of a low-cost Attitude and Heading Reference System (AHRS) for autonomous vehicles. A single sensor pack, an Inertial Measurement Unit (IMU), provides all the data required to feed the attitude filter. The design is sensor-driven and departs from traditional solutions as no explicit representations of the attitude, e.g., Euler angles, quaternions,...
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