Nine-Axis IMU sensor fusion using the AHRS algorithm and neural networks

Abstract

This paper presents data processing method for Attitude Heading and Reference System (AHRS) based on Artificial Neural Networks (ANN). The system consist of MEMS (Micro Electro-Mechanical Systems) based on Inertial Measurement Unit (IMU) consisting of tri-axis gyroscopes, accelerometers and magnetometers providing three dimensional linear accelerations and angular rates. Training data was generated by simulation fusion of samples collected during the flight of Quadcopter. The presented results shows proper functioning of the neural network. Moreover, the presented system provide the possibility to easily add other sensors e.g. GPS, in order to achieve better performance.