In the AHRS researched by the author, there is no high-reliability accelerometer and high-precision gyroscope, but a low-cost Micro-Electro-Mechanical System (MEMS) device. Such as MEMS accelerometers, magnetometers, gyroscopes, etc. These sensors are usually low in cost and low in precision. Therefore, in the framework of such low-precision gyroscopes and accelerometers, it is necessary to use the earth’s gravity field, magnetic field and other field vectors to correct them. The key is the fusion algorithm of various manufacturers. Whether it can enable AHRS to output accurate and stable attitude data in static, dynamic and magnetic interference environments.
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