Hardware-in-the-loop simulation on attitude estimation method applied on MAV

The accelerometers in the MIMU (Micro Inertial Measurement Unit) were configured as an inclinometer. And the attitude of MAV (Micro Air Vehicles) could be calculated with accelerometers. Meanwhile the attitude was estimated by gyros in the MIMU. A method to construct weighted average coefficients was proposed. Average coefficients had various performances according to various MIMU. By weighted averaging, inertial data were fused and attitude of MAV was estimated. The method promoted provided high accurate attitudes required by the MAV for flying stably, and guaranteed the dynamics of the attitude estimation system. Errors accumulated with time was avoided by applied this method. AHRS (Attitude and Heading Reference System) based on this method is small, light, accurate, and is adapted to carriers whose load and size are limited.