Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System

This paper describes a robust and simple algorithm for an attitude and heading reference system (AHRS) based on low-cost MEMS inertial and magnetic sensors. The proposed approach relies on a gain-scheduled complementary filter, augmented by an acceleration-based switching architecture to yield robus...

Descripción completa

Detalles Bibliográficos
Autores principales: Yoo, Tae Suk, Hong, Sung Kyung, Yoon, Hyok Min, Park, Sungsu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2011
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231339/
https://www.ncbi.nlm.nih.gov/pubmed/22163824
http://dx.doi.org/10.3390/s110403816
Descripción
Sumario:This paper describes a robust and simple algorithm for an attitude and heading reference system (AHRS) based on low-cost MEMS inertial and magnetic sensors. The proposed approach relies on a gain-scheduled complementary filter, augmented by an acceleration-based switching architecture to yield robust performance, even when the vehicle is subject to strong accelerations. Experimental results are provided for a road captive test during which the vehicle dynamics are in high-acceleration mode and the performance of the proposed filter is evaluated against the output from a conventional linear complementary filter.

Ejemplares similares