Attitude heading reference system for low-cost small unmanned aerial vehicle

The invention relates to an attitude heading reference system for a low-cost small unmanned aerial vehicle. The attitude heading reference system comprises an angular rate gyro, an accelerometer, a global position system (GPS), an angular rate gyro operation module, an aiding module and a Kalman filter, wherein the angular rate gyro is used for measuring a roll angular rate, a pitch angular rate and a yaw angular rate of an aerial vehicle; the accelerometer is used for measuring a weight component of gravity in an aerial vehicle coordinate axis system; the GPS is used for measuring a track azimuth of an aerial vehicle; the angular rate gyro operation module is used for computing a pitch angle theta 1, a yaw angle psi 1 and a roll angle fai 1 with offsets; the aiding module is used for estimating an estimated roll angle fai 2 and an estimated pitch angle theta 2 and using the track azimuth measured by the GPS as an estimated yaw angle psi 2; and the Kalman filter is used for fusion of data produced by the angular rate gyro operation module and the aiding module to acquire a final attitude angle [fai theta psi] . The attitude heading reference system reduces a cost of a small unmanned aerial vehicle system and a complex degree of a heading reference system and improves the precision of attitude estimation.