AHRS is a project managed by Spin.Works and co-developed by FEUP/INESC Porto and UMinho to develop an advanced Attitude Heading Reference System based on high accuracy MEMS for unmanned vehicles. The project is co-funded by ON2, QREN and FEDER.

PROJECT GOALS

  • Develop and implement a MEMS-based low-cost, high-performance Attitude Heading Reference System based on FPGA components
  • Develop and characterize innovative, high-performance, low-cost silicon-based microsensors
  • Develop and implement high-speed digital filters to remove sensor noise
  • Develop statistical requirements analysis tools for component selection and performance prediction
  • Develop and implement AHRS navigation algorithm
  • Calibrate sensors and perform system tests

APPLICATIONS

  • Unmanned Systems, in particular:
    • Robots
    • Ground vehicles
    • Aerial vehicles
  • Future Space Systems

SENSOR DEVELOPMENT (LED BY UMINHO)

  • R&D on innovative high-performance, low cost MEMS accelerometer
  • Fabrication and characterization of initial sensor hardware
  • Production of preliminary testbench, including sensors, power conditioning, ADC components and external interfaces

DIGITAL FILTERING (LED BY FEUP/INESC PORTO)

  • Development of high-speed (1kHz) digital filters for MEMS inertial sensors
  • FPGA-based implementation of SPI-based interfaces between the sensor A/D converters and the data processing board
  • Production of interface board between the sensors and the FPGA
  • Implementation and testing of navigation filter on FPGA-embedded PowerPC

NAVIGATION ALGORITHM (LED BY SPIN.WORKS)

  • Development of Covariance Analysis tool for requirements analysis
  • Adaptation of high-fidelity UAV simulation tool as software test bench for realistic sensor data generation and preliminary navigation filter performance assessment
  • Development of Extended Kalman Filter (EKF)-based navigation algorithm
  • Sensor calibration using automated platform

ANALYSIS TOOLS & TEST BENCHES

  • Requirements Analysis tool – statistical analysis tool for component pre-selection
  • Synthetic Sensor Data Generation tool – an Unmanned Aerial Vehicle-based high-fidelity 6DOF simulation tool
  • Sensor Calibration Platform – servo-assisted platform for automated sensor calibration
  • Integrated AHRS System Demonstrator – consisting of a sensor board, an interface board, and an FPGA-based data processing board

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