Design and Implementation of an Attitude and Heading Reference System (AHRS) using Direction Cosine Matrix

José Raúl Machado Fernández, Antonio Hechevarría Junco


Attitude and Heading Reference Systems (AHRS) are based on fusion algorithms for Micro-Electro-Mechanical (MEMS) sensors Systems in order to obtain the position and orientation of a given entity. These systems are applied mainly in air navigation services, space exploration and creating interactive software for mobile phones. In an effort for avoiding the high prices of AHRS solutions in the international market, the authors construct a device with individual components using the Direction Cosine Matrix (DCM) alternative as fusion algorithm. As a result, the implementation of a functional architecture is achieved at a reduced cost. Validation’s tests were executed observing the effective detection of the Pitch and Roll angles after rotating a surface where the device was situated.

Palabras clave

Attitude and Heading Reference Systems (AHRS); Micro-Electro-Mechanical Systems (MEMS); Algorithms for Sensors Fusion; Direction Cosine Matrix (DCM)

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