e , accelerometers and gyroscopes, and the magnetic sensors, magn

e., accelerometers and gyroscopes, and the magnetic sensors, magnetometers. In this study, the AHRS consists of one 3-axis ADXL 330 accelerometer, three single-axis ADXRS300 gyroscopes, and one 3-axis HMC2003 digital compass which consists of one single-axis and one dual-axis magnetometers. Rapamycin The full-scale range of the accelerometer and the gyroscopes are ��3 g and ��300��/s, respectively. Both these inertial sensors are based on MEMS technology and are produced by Analog Devices. The digital compass is based on AMR technology and produced by Honeywell. The full-scale range of the digital compass is ��2 gauss. Although the digital compass is termed a 3-axis sensor, it actually comprises two AMR sensors, one single-axis and one Inhibitors,Modulators,Libraries dual-axis magnetometers.

All these sensors provide analog signals, so an analog-to-digital converter (ADC) Inhibitors,Modulators,Libraries is required to acquire the data. Therefore, the PIC18F2553 single-chip microcontroller, made by Microchip Technology, with 10-channel 12-bit ADC is used. In order to increase the computational Inhibitors,Modulators,Libraries efficiency and to perform the data fusion algorithm, two PIC18F2553 microcontrollers serve as the processing units of the low-cost Inhibitors,Modulators,Libraries AHRS, and they communicate with each other through a built-in Inter-Integrated Circuit (I2C) bus. Moreover, the estimated orientation and the raw data of the AHRS are passed to the personal computer (PC) via the universal asynchronous receiver/transmitter (UART) interface. The developed AHRS is low-cost due to the application of low priced sensors and microcontrollers and the implemented data fusion algorithm is self-developed.

There is no cost-effective testing of this AHRS, but for this testing readers can be referred to the study in [14]. The configuration of this self-developed AHRS is shown in Figure Entinostat 1.Figure 1.Configuration of the self-developed AHRS.2.2. Data Fusion AlgorithmIn order to achieve the application of the AHRS on the navigation of a small UAV, a data fusion algorithm using the second-order complementary filter to estimate the roll and pitch angles is introduced in this study. This algorithm fuses the data measured from the gyroscope and accelerometer triads to obtain the estimated roll and pitch angles, but there is no information about the yaw angle in these two sensors. Therefore, the digital compass is required to provide the information for the estimation of the yaw angle.

Since the gyroscope has the problem of drift which results in cumulative errors, especially for the Belinostat HDAC MEMS sensor, some error compensation for the drift will be necessary to estimate a reliable attitude. This is the reason why the data fusion algorithms use of different type of sensors are required in the attitude estimation of low-cost AHRS [15]. In this study, the Euler angles, namely roll, pitch and yaw angles, are adopted as the orientation representation.

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