Evaluating the Performance of Euler and Quaternion-Based AHRS Models in Embedded Systems for Aviation and Autonomous Vehicle Applications

Year 2025, Volume: 9 Issue: 2, 249 - 259, 28.06.2025

Tarık Ünler , Yavuz Selim Güler

https://doi.org/10.30518/jav.1633060

Abstract

This study investigates the impact of different Kalman Filter models on the performance of the AHRS system and evaluates its microprocessor-independent computation speed, with particular emphasis on its critical role in aviation and autonomous vehicle applications. AHRS is vital for aircraft stability, navigation, and control by providing accurate attitude estimation. The research employed an MPU-9255 sensor and an ATmega2560 microprocessor, processing data from the sensor to implement Kalman Filters using different mathematical models. Two models, based on Euler angles and quaternions, were tested and compared in terms of measurement accuracy and execution speed. The computation time difference between the models was found to be 10 millisecond (ms). By assessing the performance of these models within an embedded system, the study introduces a novel framework that serves as a reference for optimizing AHRS applications in aviation and other real-time orientation tracking systems.

Keywords

Kalman Filter, Embedded Systems, Computational Efficiency, Sensor Fusion, IMU, AHRS

Havacılık ve Otonom Araç Uygulamaları İçin Gömülü Sistemlerde Euler ve Dörtgen Tabanlı AHRS Modellerinin Performans Değerlendirmesi

Abstract

Bu çalışma, farklı Kalman Filtre modellerinin AHRS sistemi performansı üzerindeki etkisini incelemeyi ve mikroişlemci bağımsız hesaplama hızını değerlendirmeyi amaçlamaktadır; özellikle havacılık ve otonom araç uygulamalarındaki kritik rolüne vurgu yapmaktadır. AHRS, doğru duruş tahmini sağlayarak hava aracı stabilitesi, navigasyonu ve kontrolü için hayati öneme sahiptir. Araştırma, MPU-9255 sensörü ve ATmega 2560 mikroişlemcisini kullanarak, sensörden alınan verileri işleyerek farklı matematiksel modellerle Kalman Filtreleri uygulamıştır. Euler açıları ve dörtgenler (quaternions) tabanlı iki model test edilip, ölçüm doğruluğu ve yürütme hızı açısından karşılaştırılmıştır. Modeller arasındaki hesaplama süresi farkı 10 ms olarak bulunmuştur. Bu modellerin gömülü bir sistemdeki performansı değerlendirilerek, çalışma, havacılık ve diğer gerçek zamanlı yönelim izleme sistemlerinde AHRS uygulamalarını optimize etmek için bir yenilikçi çerçeve sunmaktadır.

Keywords

Kalmman Filtersi, Gömülü Sistemler, Hesaplama verimliliği, Sensör Füzyonu;, IMU, AHRS

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