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	AHRS	Dödräkning	INS-felmodellen
Ämnesområde	Flyg- och rymdteknik	Flyg- och rymdteknik	Flyg- och rymdteknik
Familj	Process / pipeline	Process / pipeline	Process / pipeline
Ursprungsår	1940s	1940s	1960s
Upphovsperson	Aviation heritage	Maritime navigation tradition	Schuler and others
Typ	System	Navigation method	Stochastic model
Ursprungskälla	Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates.	Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates.	Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology.
Alias	AHRS system, attitude reference, heading sensor	ded reckoning, inertial navigation, odometry	INS error analysis, error state kalman filter, ESKF
Närliggande	3	3	3
Sammanfattning	An Attitude Heading Reference System (AHRS) is a complete inertial navigation subsystem that estimates and outputs the three-dimensional orientation (attitude) and heading of a vehicle or platform. AHRS combines measurements from accelerometers, gyroscopes, and often magnetometers through sensor fusion algorithms (typically Kalman filters or complementary filters) to provide a drift-free, fast attitude estimate. AHRS is standard in aviation, marine navigation, and modern autonomous systems.	Dead Reckoning is a fundamental navigation method that estimates position and heading by integrating velocity and angular rate measurements from inertial sensors over time, without external references such as GPS. The term derives from maritime tradition ('deduced reckoning') and remains a cornerstone of aerospace and autonomous vehicle navigation. Dead reckoning works reliably in GPS-denied environments and is the baseline navigation method when external navigation aids are unavailable.	The INS Error Model is a mathematical framework that characterizes how errors in inertial sensor measurements propagate through a navigation system's estimates of position, velocity, and attitude. Developed during the 1960s and refined through decades of navigation research, the error model enables design of optimal estimation filters (e.g., Kalman filters) that fuse inertial measurements with external references (GNSS, LiDAR, cameras) to bound and correct accumulated errors. The error model is fundamental to understanding and improving inertial navigation performance.