Calculating attitude of a UUV(unmanned underwater vehicle) using AHRS

An AHRS gives 
  • linear acceleration a=(ax, ay, az),  
  • angular rate ω=(ωx, ωy, ωz) , and 
  • magnetic field m=(mx, my, mz)
in three dimensional space.
A vehicle can be installed with the XSENs MEMS AHRS.  XSENs AHRS come with IP67 casing which are water proof and can be further secured inside a submersible enclosure.
In many occasion these XSENs AHRS are used along with other payloads and the results combined using Kalman Filter to get more accurate readings.
to be continued...