Design and implementation of cryptography based attitude and heading reference system with Extended Kalman Filter

This paper describes the design and implementation of efficient MEMS based Attitude and Heading Reference System (AHRS) along with an innovative three-axis rotating platform. The system comprises of avionic grade motion sensing device (made up of 3-axis Accelerometer, 3-axis Gyroscope, 3-axis Magnetometer) and onboard floating point processor that create virtual 3-axis sensor capable of measuring orientation angle (Roll, Pitch, and Yaw), rotational velocity and acceleration in body-fix axis. System also contains on board Single axis Barometer along with Temperature Sensor, GPS/GNSS, and data logger for real time vehicle navigation, capture motion of pointing and position data for stabilization of UAVs and control applications. The proposed system works on Extended Kalman Filter and cryptography algorithm for data logger providing security to data logging memory. Real data of the complete AHRS maintain an accurate and drift-free Attitude and Heading estimation.