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Mathematical Problems in Engineering
Volume 2013, Article ID 498739, 8 pages
Research Article

Design of an Attitude and Heading Reference System Based on Distributed Filtering for Small UAV

1Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China
2School Aeronautic Science and Engineering, Beihang University, Beijing 100191, China

Received 8 April 2013; Accepted 22 May 2013

Academic Editor: Wenwu Yu

Copyright © 2013 Long Zhao and Qing Yun Wang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A development procedure for a low-cost attitude and heading reference system (AHRS) based on the distributed filter has been proposed. The AHRS consists of three single-axis accelerometers, three single-axis gyroscopes, and one 3-axis digital compass. The initial attitude estimation is readily accomplished by using the complementary filtering. The attitude estimation for UAV flying in the real time is realized by using the three low orders EKF. The validation results show that the estimated orientations of the developed AHRS are within the acceptable region, and AHRS can give a stabilized attitude and heading information for a long time.