= How to turn Adafruit's 9-DOF, 10-DOF, or LSM9DS0 breakouts into AHRS (attitude and heading reference system) !
= Sensor node/mote
Apostolos rootApostolos@swarmlab.io
Apostolos rootApostolos@swarmlab.io
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:description: IoT Διαδίκτυο των Αντικειμένων
:description: IoT Διαδίκτυο των Αντικειμένων
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An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for aircraft, including roll, pitch and yaw. These are sometimes referred to as MARG (Magnetic, Angular Rate, and Gravity)[1] sensors and consist of either solid-state or microelectromechanical systems (MEMS) gyroscopes, accelerometers and magnetometers. They are designed to replace traditional mechanical gyroscopic flight instruments.
A **sensor node**, also known as a **mote**, is a node in a sensor network that is capable of performing some processing, gathering sensory information and communicating with other connected nodes in the network.
:TIP A mote is a node but a node is not always a mote
.The typical architecture of the sensor node
image:./sensors_1604_LRG.jpg[alt="The typical architecture of the sensor node"]
The main components of a sensor node are a **microcontroller**, **transceiver**, **memory**, **power source** and one or more **sensors.**
== Sensor node using IMU sensors
A basic IMU (Intertial Measurement Unit) generally provides raw sensor data, whereas an AHRS takes this data one step further, converting it into heading or direction in degrees, converting the raw altitude data into standard units like feet or meters, etc.
A basic IMU (Intertial Measurement Unit) generally provides raw sensor data, whereas an AHRS takes this data one step further, converting it into heading or direction in degrees, converting the raw altitude data into standard units like feet or meters, etc.
.AHRS (Attitude and Heading Reference System)
[NOTE]
====
An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for aircraft, including roll, pitch and yaw. These are sometimes referred to as MARG (Magnetic, Angular Rate, and Gravity) sensors and consist of either solid-state or microelectromechanical systems (MEMS) gyroscopes, accelerometers and magnetometers. They are designed to replace traditional mechanical gyroscopic flight instruments.
test2
5 years ago
