An AHRS gives
- linear acceleration a=(ax, ay, az),
- angular rate ω=(ωx, ωy, ωz) , and
- magnetic field m=(mx, my, mz)
in three dimensional space. A vehicle can be installed with the XSENs MEMS AHRS. XSENs AHRS come with IP67 casing which are water proof and can be further secured inside a submersible enclosure. In many occasion these XSENs AHRS are used along with other payloads and the results combined using Kalman Filter to get more accurate readings. to be continued…