A. Antunes, R.Palma, Luís Brito2021-10-272021-10-272021-10http://hdl.handle.net/10400.26/37835Trabalho apresentado em IEEE IBITeC2021 (International Biomedical Instrumentation and Technology Conference), 20-21 outubro 2021, onlineThis work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechan ical system. Results show that the AHRS developed device is “gimbal lock” immune, given that the 3D rotations are per formed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an AHRS solution for medical, sports science, rehabilitation and assistive technology. The contribution of this paper is a theoretical methodology and a practical implementation of an AHRS device for Biomedical applications.engMicroelectromechanical sensorsBiomedical Engineering devicesQuaternionsQuaternion-based AHRS with MEMS Motion Sensor for Biomedical Applicationsconference object