Pointing System for the Balloon-Borne Astronomical Payloads
  We describe the development and implementation of a light-weight, fully autonomous 2-axis pointing and stabilization system designed for balloon-borne astronomical payloads. The system is developed using off-the-shelf components such as Arduino Uno controller, HMC 5883L magnetometer, MPU-9150 Inertial Measurement Unit (IMU) and iWave GPS receiver unit. It is a compact and rugged system which can also be used to take images/video in a moving vehicle, or in areal photography. The system performance is evaluated from the ground, as well as in conditions simulated to imitate the actual flight by using a tethered launch. 
K. Nirmal, A. G. Sreejith, Joice Mathew, Mayuresh Sarpotdar, Ambily   Suresh, Ajin Prakash, Margarita Safonova and Jayant Murthy
astro-ph.IM