Model of inertial navigation system for unmanned aerial vehicle based on MEMS

The article presents data on the software and hardware implementation of the algorithm for determining Euler angles (roll, pitch and yaw) based on MEMS using a complementary filter. The yaw angle is calculated from the readings of the magnetometer. The angles of roll and pitch are calculated from the accelerometer and gyroscope readings with their subsequent integration to improve the determination accuracy. A prototype model of an inertial navigation system was assembled using the GY-9250 module and the Arduino UNO board, which have high performance at low cost and low power consumption.