Attitude Measurement Based on Differential Array of MEMS Inertial Sensors

The Attitude and Heading Reference System (AHRS) provides real-time carrier attitude and heading data. Integration of low-cost, low-power Micro Electromechanical System (MEMS) inertial sensors has expanded application possibilities. To address issues like low accuracy and sensor drift, this paper proposes a sensor redundancy technique. It forms an array of 32 inertial measurement units (IMUs) combining gyroscopes and accelerometers. Through differential and mean fusion, this array is virtualized into a stable, reliable, high-precision IMU. A magnetometer is added to the IMU array, and an IMU attitude measurement board is designed based on established principles. The comparison experiments with other commercial attitude measurement boards showed that the IMU attitude measurement board was more suitable for attitude measurement in dynamic environments.