AHRS Update

Yes, I know we've been missing for a while but we're back and we promise we haven't been idle.

The Attitude Heading and Reference System(AHRS) is two-thirds ready.
We have successfully implemented a 6-state Extended Kalman filter(EKF) to compute the roll, pitch and yaw.The roll and pitch are working astonishingly well, while the yaw is completely screwed up!!

To test our AHRS, we did an experiment in which it was tested along with a commercial AHRS - Xsens Mti IMU .The two units were aligned along the same axes on a bakelite board and different motions were given.The data was logged and then plotted in Matlab.

The results for roll and pitch were nothing short of spectacular.



As can be seen from the graphs,performance of our AHRS almost exactly matches the MTI
leaving aside the initial offsets(due to errors while assembling on the board).This is a huge step forward as with just the roll and pitch, the control system will be able to fly the plane with stability.

However, the yaw is still a matter of concern but we hope to work it out in the next few days.Hopefully, our next post will be our last for the AHRS team.

A big Thank You !! to the AUV team (Autonomous Underwater Vehicle) who lent us their IMU for testing.