Sensor Measurement Data

The AHRS device can report data it retrieves from on-board sensors, such as 3-axis accelerometer, 3-axis magnetometer and 3-axis gyroscope.

Each sensor report data in a raw form which is then normalized (to appropriate physical unit) and then calibrated, using calibration matrixes to correct missalignment, bias and temperature drift.

Figure 1. Sensor Data Processing Sequence.

Data from on-board sensors can be retrieved in any of these three forms over any communication interface using messages as in the table below.