Testing last generation MEMS-based AHRS

This paper presents the development of an high accuracy MEMS-based AHRS unit. This unit exploits last generation MEMS gyro and accelerometers in conjunction with two main real time processing steps that allows to generate state-of-art estimates of 9 dof platform status including attitude, inertial velocity, and position. These two steps are raw sensor data correction and Extended Kalman Filtering in order to integrate both GNSS and magnetometer measurement to perform the most accurate correction of inertial estimates that are affected by error drift.