Simulation model of modern microelectromechanical attitude heading reference system was created. It was based on using high-accurate two-step integration method for Bortz vector equation. It allows to increase accuracy of quaternion attitude algorithm. To compensate bias instability of microelectromechanical gyroscopes, Kalman filter was applied. It based on estimation of quaternion a gyroscope errors by adding accelerometers and magnetometers signals. Presented algorithm can be widely used for any type of controlled vehicle and UAVs.
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