MEMS based AHRS with adaptive bias estimation for high performance rate sensor replacement

Presented is the unique retrofit application of a MEMS based Attitude Heading Reference System (AHRS) into an existing high performance pan and tilt surveillance platform. The platform imaging sensors must provide stable imagery from fixed and moving locations, rejecting external rate disturbances. The quaternion based attitude estimator provides gyro bias estimates that are removed before output to the pan and tilt control system. The sensor replacement unit outputs analog voltages corrected for temperature and other environmental conditions to provide a drop in replacement capability costing an order of magnitude less.