Software algorithms in air data attitude heading reference systems

An introduction to air data attitude heading reference systems (ADAHRS) is presented along with the developments and discussion of software algorithms used in such systems. Both Kalman filtering and fuzzy logic adaptive signal processing are presented and discussed. Quaternions are used in this paper as the basis for the discussion of both algorithms. Flight results from Archangel Systems AHR150 ADAHRS are also presented and discussed.