Multiplataforma para Teste de Sensores e Avaliação de Algoritmos de Determinação de Atitude

Abstract

This work describes a multiplatform system for testing and validating attitude determination systems based on magnetic and inertial sensors (MARG). The platform concept involves a simulation system and an electronic system. The first simulates body dynamics, MARG sensors data, and tests attitude determination algorithms. The electronic system, in turn, is modular and allows Software- and Hardware-in-the-loop simulations together with the simulation model. Thus, it allows algorithm testing with real sensor data and the analysis of these sensors. The work presents the project and the concept of the multiplatform and a prototype built with development boards. Results demonstrates the sensor calibration and attitude determination using two sets of MARG sensor data available at the prototype.