AHRS Attitude Heading Reference System

AHRS Attitude Heading Reference SystemAn AHRS (Attitude and Heading Reference System) provides 3D orientation by integrating gyroscopes and fusing this data with accelerometer data and magnetometer data. With sensor fusion, drift from the gyroscopes integration is compensated for by reference vectors, namely gravity and the earth magnetic field. This results in a drift-free orientation, making an AHRS a more cost effective solution than conventional high-grade IMUs (Inertial Measurement Units) that only integrate gyroscopes and rely on a very high bias-stability of the gyroscopes.

Below you will find more information on:

  • Affordable MEMS AHRS
  • Kalman filtering
  • GPS enhanced AHRS
  • MEMS AHRSs as a replacement for high-grade IMU
  • Applications, customer cases for AHRS

Overview

AHRS in robotAffordable MEMS AHRSs

Affordable MEMS AHRSs were introduced just after 2000, when inertial sensors prices dropped and accuracy improved, to enable the mass introduction of ESP, airbags and built-in car navigation. The improved inertial sensors were used by companies such as Xsens to design AHRSs that provide 3D orientation for a broad range of applications from human motion to navigation of unmanned vehicles and the stabilization of antenna and camera systems. The Xsens MTi 10-series and MTi 100-series are proven products in the industrial applications market place.

 

Kalman filtering

In order to cope with transient accelerations, magnetic disturbances and vibrations, the sensor fusion algorithm needs to be adapted for specific applications. Xsens offers the best performance by applying filter setting profiles that are optimized for the customer’s application.

 

GPS enhanced AHRSs

To improve the AHRS performance under long-lasting accelerations and under conditions with severe magnetic disturbance, Xsens offers the MTi-G-700 GPS/INS. The MTi-G-700 uses GPS to determine accelerations and velocity, which can be used to make the referencing with gravity more robust, resulting in a robust roll and pitch. Using the heading and course of the GPS, it is also possible to retrieve heading without using the magnetometers.

The MTi-G-700 is often used in applications that are high-dynamic. Test results and testimonials can be found here:

MTi-G in a jet aircraft
MTi-G on a racing track 

 

Xsens MTi’s used in fleet of autonomous robotsMEMS AHRSs as a replacement for high-grade IMUs?

Traditional IMUs (e.g. Honeywell, Sagem and Northrop Grumman/Litef) are used in many applications for navigation, control and stabilization. With the Xsens AHRSs, it is however possible to get similar performance in a smaller package allowing to use them in more applications, such as antenna and camera stabilization, small unmanned vehicles and even hand-held applications.

It also makes the use of orientation sensors possible where an orientation sensor had not been considered before. A few examples can be found at the Xsens website:

  • Stabilizing an antenna for EM Solutions; EM Solutions provides a stabilized antenna system in challenging, mission-critical environments. The accuracy of the Xsens MTi-G is sufficient to cope with vibrations and dynamic movements.
  • MTi’s steering a fleet of robots; the number of robots in a fleet (6 or more) makes the use of conventional orientation sensors very expensive. Using MTi’s gives the fleet manager information on every single robot.

Cases for AHRS Attitude Heading Reference System

Motion Capture for The Zombies
Motion Capture for The Zombies
An animated video by Pixelhunters for the game The Zombies
Evaluation of shoulder load in innovative order pick workstations
Order pick workstations
Evaluation of shoulder load in innovative order pick workstations
Beaming – Combining virtual reality, tracking and teleoperation technology
Beaming
Combining virtual reality, tracking and teleoperation technology
Robo Sally – Bomb disposal robot
Robo Sally
Remote controled bomb disposal robot
Surveying and Indoor Mapping
Surveying and Indoor Mapping
Autonomous Simultaneous Localization and Mapping (SLAM)
Cannes Lions Festival of Creativity
Cannes Lions Festival
Live motion capture entertainment
Bounden – Mobile game with Xsens technology
Bounden
Mobile game with Xsens technology
Valedo – Back pain therapy with Xsens technology
Valedo
Back pain therapy with Xsens technology
Analysis of vehicle ingress and egress
Vehicle ingress and egress
Updated: Analysis of vehicle ingress and egress by the Coventry University.
Live motion capture at 2014 Winter Olympic Games closing ceremony
Live mocap entertainment
Live motion capture at 2014 Winter Olympic Games closing ceremony
Assessment of lumbar spine forces during maneuvering of different lift devices during patient handling
Lumbar spine forces during maneuvering
Assessment of lumbar spine forces during maneuvering of different lift devices
Study of Effects of Intent Recognition Errors on Neural Control of Powered Lower Limb Prostheses
Lower Limb Prostheses
Study of Effects of Intent Recognition Errors on Neural Control of Powered Lower Limb Prostheses
Brigham Young University – Owned
Brigham Young University – Owned
Making of a five minute short film in a highly collaborative, interdisciplinary environment
Protrain Taekwondo Mobile App
Protrain Taekwondo Mobile App
Building a mobile learning app within 2 months using Xsens MVN
Development and validation of an inertial sensor based human model with integrated compensation of errors
Human Kinematics software
Development and validation of an inertial sensor based human model with integrated compensation of errors
Chapman University: Some like it BOT!
Some like it BOT!
Chapman University: Some like it BOT!
Mr. Go
Mr. Go
Xsens distributor Motion Technologies provided the motion capture services for Mr. Go.
Xsens MVN enabled Augmented Reality
Augmented Reality
Augsburg University research: Xsens MVN enabled Augmented Reality.
Live motion capture performances at Marlboro Secrets Tour
Live motion capture
Live motion capture performances at Marlboro Secrets Tour
Identifying Psychological Focus of Attention Using Intra-Individual Movement Variability
Focus of Attention
Identifying Psychological Focus of Attention Using Intra-Individual Movement Variability by the University of Central Lancashire
Kaxan Games
Kaxan Games
Ruben Olvera, Production Coordinator at Kaxan Studios, talks about the use of Xsens motion capture.
Strange Company
Strange Company
With the use of the Xsens MVN suits Strange Company can release lots more films than they did before.
A normative data-set of Timed Up and Go component times under different conditions
Timed Up and Go
A normative data-set of Timed Up and Go component times under different conditions
Simulated binoculars for observed fire training
Simulated binoculars
Gavap is a company that specializes in simulation systems and equipment for firing instruction and training.
Xsens MTi-G GPS/INS in unmanned aircraft
Unmanned aircraft
Xsens MTi-G GPS/INS in unmanned aircraft to collect highly accurate flight data.
Real-time control of robot with Xsens MVN
Mahru
Real-time control of robot with Xsens MVN by the Korean Institute of Science and Technology (KIST).
Wireless measurement of scapular dyskinesis with IMMS
Scapular dyskinesis
Wireless measurement of scapular dyskinesis with IMMS by VU University Medical Center
Advanced Diagnosis and Assessment of Tremor
Assessment of Tremor
Advanced Diagnosis and Assessment of Tremor by University of Bristol.
Accelerometry-based prediction of Center of Pressure and Center of Mass during motor tasks
Center of Pressure and Mass
Accelerometry-based prediction of Center of Pressure and Center of Mass during motor tasks by the University of Bologna.
The effect of different shoes on aiming and shooting in archery
Aiming and shooting in archery
The effect of different shoes on aiming and shooting in archery by the University of Ljubljana
Aerospy and Xsens
Aerospy
Aerospy and Xsens to offer customers in the field of (un)manned systems a more easy to install solution.
Ted
Ted
On-set real-time motion capture for Seth MacFarlane hit movie Ted.
Indoor Biofeedback Analysis for Rowing
Biofeedback Analysis for Rowing
Indoor Biofeedback Analysis for Rowing by NUI Galway.
A novel wearable measurement system for ambulatory assessment of joint loading in the occupational setting
Wearable measurement system
A wearable measurement system for ambulatory assessment by Harvard School of Public Health.
Interactive Sonification of Human Movements for Stroke Rehabilitation
Stroke Rehabilitation
Interactive Sonification of Human Movements for Stroke Rehabilitation by the Leibniz University Hanover.
Human Behaviour Analysis: Fall detection
Fall detection
Human Behaviour Analysis: Fall detection by the University of Coimbra.
John Carter
John Carter
VFX companies Halon and Double Negative worked on the visual effects. Both companies used the Xsens MVN for this major project.
Previs for X-Men: First Class
X-Men: First Class
Previs for X-Men: First Class by The Previs Department of 20th Century Fox and The Third Floor.
Free Style 2 Street Basketball
Free Style 2
Motion capture for the game Free Style 2 Street Basketball.
Insomniac Games: Resistance 3
Resistance 3
Kevin Grow, Cinematics Director at Insomniac Games, talks about the animation pipeline for Resistance 3.
SkySails uses MTi to stabilize towing kite
SkySails towing kite
The innovative SkySails Propulsion System uses wind energy to reduce fuel costs and emission levels.
Vestel commercial
Vestel commercial
Saatchi & Saatchi and visual effects studio Unexpected created the new commercial for Vestel.
Warwick Mobile Robotics (Hexakopter)
Hexakopter
Warwick Mobile Robotics is a collection of projects under development at the University of Warwick in the field of mobile robotics.
Objective Functional Capacity Assessment using Xsens MVN System
Functional Capacity Assessment
Objective Functional Capacity Assessment using Xsens MVN System by the University of Wollongong
Skrillex: Live on stage!
Skrillex: Live on stage!
For his 2011/2012 world tour Skrillex introduced a live motion capture act to his onstage performance.
Grand Cooperative Driving Challenge (GCDC)
GCDC
Challenge of semi-autonomous cars in the sense that they are automatically controlled only in the longitudinal direction.
Stair climbing: a comparison with an optical tracking device
Stair climbing
Stair climbing: a comparison with an optical tracking device by King's College London.
MTi helps in predicting a thrown ball’s trajectory
Humanoid Rollin' Justin
MTi helps in predicting a thrown ball’s trajectory by the DLR’s Institute of Robotics and Mechatronics.
2008 Beijing Olympic Games
Olympic Games opening
2008 Beijing Olympic Games opening with Taichi and a "Jump Dragon" performance.
Movie: Paul
Paul
For the feature film ‘Paul’, the Xsens MVN motion capture solution was used by actor Seth Rogen.
Xsens MTi’s used in fleet of autonomous robots
WAMbot
Xsens MTi’s used in fleet of autonomous robots.
IMMS improves spasticity assessment in children with cerebral palsy
Spasticity assessment
IMMS improves spasticity assessment in children with cerebral palsy by VU University Medical Center
“Outwalk”: a novel protocol for clinical gait analysis based on inertial and magnetic sensors
Outwalk
“Outwalk”, with its high potential, can be spread in a...
New test in AEC jet shows performance increase in latest SDK
AEC jet
New test in AEC jet shows performance increase in latest MTi-G Software Development Kit.
Baseball pitchers analysis
Baseball pitchers analysis
Baseball pitchers analysis by INAIL Prostheses Centre.
CryoWing fixed-wing UAV
Fixed-wing UAV
CryoWing fixed-wing UAV by the Northern Research Institute in Norway (NORUT).
The New Art of Virtual Moviemaking
Autodesk
The New Art of Virtual Moviemaking
Wingsuit flight analysis using the MTi-G
Wingsuit flight analysis
Wingsuit flight analysis using the MTi-G by the Institute for Dynamic Systems and Control.
The Third Floor: Previzualization
Previzualization
This motion capture technology allows for an even greater level of character realism in our previs.
Extreme conditions
Extreme conditions
Management of resources in extreme conditions by the Institute for Biophysical and Clinical Research.
Stroke patients
Stroke patients
Characterising patterns of muscle activation in stroke patients during walking
WearIT@Work Project
WearIT@Work
Omnidirectional Pedestrian Navigation for First Responders.
Sony Computer Entertainment: Killzone 2
Killzone 2
Xsens MVN used for development of first person shooter Killzone 2 by Guerrilla Games.
Racehorse lameness
Racehorse lameness
Fast, accurate and robust detection of lameness of racehorses.
Rowing with Xsens MVN
Rowing with Xsens MVN
Rowing with Xsens MVN by Roessingh Research & Development (RRD).
Wearable assist devices
Wearable assist devices
Wearable assist devices by Kessler Medical Rehabilitation Research.
Gearbox’ Borderlands
Borderlands
Late summer 2007, Gearbox Software came to an agreement with...
Hamster comes to life
Hamster motion capture
A CGI hamster was subsequently created and brought to life with Xsens MVN.
Stars on Ice
Animated billboard
An animated billboard for the Swedish television show 'stars on ice' by CG Sweden.
Performance Praga Khan
Praga Khan
MVN was used to its full advantage during a live theater performance by Belgian artist Praga Khan.
Unmanned Vehicle (DARPA Challenge)
Unmanned Vehicle
Unmanned Vehicle at DARPA Challenge by the University of Louisiana.
Stabilization of a walking robot
FLAME
Stabilization of a walking robot by the Delft University of Technology.
Control system for unmanned helicopter
Unmanned helicopter
Delft Dynamics develops control systems for manned and unmanned vehicles.

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