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Attitude and Heading Reference Systems (AHRS)


AHRS-II-B (Basic)AHRS-II-E (Enhanced)AHRS-II-P (Professional)AHRS-10OptoAHRS-II
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Heading static accuracy1 deg1 deg0.3 deg0.3 deg0.2 deg
Heading dynamic accuracy1.5 deg1.5 deg0.6 deg0.6 deg0.4 deg
Pitch & Roll static accuracy0.2 deg0.1 deg0.1 deg0.1 deg0.1 deg
Pitch & Roll dynamic accuracy0.5 deg0.3 deg0.3 deg0.3 deg0.3 deg
Gyroscopes Bias in-run stability1 deg/hr1 deg/hr1 deg/hr1 deg/hr10 deg/hr
Accelerometers Bias in-run stability0.02 mg0.005 mg0.005 mg0.005 mg0.005 mg
Magnetometers Bias in-run stability4 nT4 nT0.2 nT0.2 nT0.2 nT
InterfaceRS-232, RS-422, RS-485USB
Output data formatBinary, TSS-1, NMEA 0183 ASCII charactersBinary
Input Voltage9 to 36 V DC9 to 8 V DC12 to 26 V DC
Size120 x 50 x 53 mm90 x 27 x 26 mm132 x 60 x 47 mm
Weight220 gram220 gram280 gram84 gram600 gram

Attitude & Heading Reference Systems key performance

Gyroscopes & Accelerometers Bias in-run stability

Heading, Pitch & Roll accuracy

The Inertial Labs Attitude and Heading Reference Systems are enhanced, high-performance strapdown systems, that determines absolute orientation (Heading, Pitch and Roll) and Heave for any device on which it is mounted. Orientation is determined with high accuracy for both motionless and dynamic applications.

The Inertial Labs AHRS utilizes 3-axes each of precision accelerometers, magnetometers and gyroscopes to provide accurate Heave, Heading and Attitude of the device under measure. Integration of gyroscopes’ output provides high frequency, real-time measurement of the device rotation about all three rotational axes. Accelerometers and Fluxgate magnetometer measure absolute Pitch, Roll and magnetic Azimuth at AHRS initial alignment as well as providing ongoing corrections to gyroscopes during operation.

Applications and customer cases:

  • State-of-the-art algorithms for different dynamic motions of Vessels, Ships, ROV, UUV, Robots, UAV, UGV, AGV, Gimbals and Antennas
  • Highly accurate, sensitive, and temperature stable Fluxgate magnetometers (in-house technology)
  • 0.3 deg Gyro-Stabilized Slaved Magnetic Heading and 0.1 deg Pitch & Roll accuracy
  • 1 deg/hr gyroscopes Bias in-run stability
  • 5 μg accelerometers Bias in-run stability
  • Suitable for Primary Attitude Reference and as Motion Control System for marine applications
  • Advanced, extendable, embedded Kalman Filter based sensor fusion algorithms
  • Embedded 2D and 3D magnetic calibration on hard and soft iron
  • RS-232, RS-422, USB and CAN 2.0 interfaces
  • Full temperature calibration of all sensing elements
  • Up to 200Hz data update rate
  • Environmentally sealed (IP67)
  • Compact design