Kanardia Horis Installation And User Manual page 10

Horis User Manual
GPS and other values using special sensor fusion algorithms. These
values are passed to CAN bus where other CAN devices may use also
them. The display processor monitors the CAN bus and it displays
the information on LCD display.
One push/rotate knob is used for the operations. User interface is
optimized so only minimal interaction is required to operate the in-
strument.
1.3 Technical Specification
Tables 1–3 starting on page 11 list basic technical specifications of
Horis.
1.4 Roll, Pitch and Yaw
The AD-AHRS-GPS module (a.k.a. AIRU), which is built-in Horis is
responsible for calculation of roll, pitch and yaw angles (a.k.a. Euler
angles).
The module holds several sensors, which readings are combined to-
gether using sophisticated algorithms. Our implementation follows
ideas of Extended Kalman filtering, which combines mathematical
model with measurements.
The mathematical model is based on gyroscope integration and it
gives short term response. MEMS gyroscopes sense angular velocity.
This angular velocity is integrated in time domain to obtain angles.
Numerical integration is performed about 100 times per second where
angular velocities are assumed to be constant between two integration
steps. All MEMS gyroscopes have same error, which integrated in
time quickly render angles (roll, pitch, yaw) unusable unless they are
corrected with some independent measurements.
Two measurements are used to stabilize the angles. One measure-
ment is apparent gravity. This is combination of measured values
1.3 Technical Specification
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