Quaternion based wireless AHRS data transfer using nRF24L01 and HC-05

Abstract

Orientation and Rotation of a system plays an important role in describing how an object is placed in 3-D space. Measuring an orientation has many application in the field of Monitoring human motion, Animation, Unmanned Aerial Vehicle (UAV), Robotics and Navigation. An AHRS (Attitude and Heading Reference System) is commonly used for measuring the orientation through which Roll, Pitch and Yaw of the system is obtained. This paper proposes a design of Wireless AHRS (WAHRS) which is capable of sending the sensor data to the ground station, using the Ultra-low power nRF24L01 transceiver, HC-05, Atmega328p and the MARG (Magnetic, Angular Rate, and Gravity) MEMS (Micro-Electro-Mechanical Systems) sensor. The nRF24L01 is a cost-effective radio transceiver which operates at a frequency of 2.4 GHz Industrial, Scientific and Medical (ISM) radio Band. The received data is further processed for analysis, data visualization and decision making. Quaternion is used for representing orientation and rotation as it has an advantage over 3-D algebra.