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Inertial Navigation System (INS) is used in accurate attitude, position and velocity determination in wide range of applications. Usage of high performance INS is limited by its relatively high cost. Inertial sensors based on MEMS technology have recently become commercially available at lower costs. MEMS based INS is also immune to signal jamming, spoofing and blockage vulnerabilities. Commercial off the shelf low cost inertial sensor errors are increasing with time. Hence, GPS can be used to update and correct the INS measures. INS mainly used to bridge the gaps during GPS outages. In this paper MEMS based Attitude Heading Reference System (AHRS) is used to determine the attitude and distances travelled by the system in North East Down (NED) frame.
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