The Micro Heading Attitude Reference System (SDI-MAHRS) series is a miniature full-attitude measurement sensor device, which consists of three types of sensors, including a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, and a three-axis magnetoresistive magnetometer. constitute. The three-axis gyroscope is used to measure the absolute angular rate of the carrier in three directions, and the three-axis accelerometer is used to measure the acceleration of the carrier in three directions. For the drift in the pitch and roll directions, the three-axis magnetoresistive magnetometer measures the three-dimensional geomagnetic intensity, which is used to provide the initial alignment of the orientation angle and correct the drift of the heading angle. Micro attitude reference system INS-MAHRS series, the output data that can be provided are: raw data, quaternion, attitude data, etc.