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...

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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
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author Yoo, Tae Suk
Hong, Sung Kyung
Yoon, Hyok Min
Park, Sungsu
author_facet Yoo, Tae Suk
Hong, Sung Kyung
Yoon, Hyok Min
Park, Sungsu
author_sort Yoo, Tae Suk
collection PubMed
description 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.
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spelling pubmed-32313392011-12-07 Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System Yoo, Tae Suk Hong, Sung Kyung Yoon, Hyok Min Park, Sungsu Sensors (Basel) Article 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. Molecular Diversity Preservation International (MDPI) 2011-03-29 /pmc/articles/PMC3231339/ /pubmed/22163824 http://dx.doi.org/10.3390/s110403816 Text en © 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Yoo, Tae Suk
Hong, Sung Kyung
Yoon, Hyok Min
Park, Sungsu
Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title_full Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title_fullStr Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title_full_unstemmed Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title_short Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
title_sort gain-scheduled complementary filter design for a mems based attitude and heading reference system
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231339/
https://www.ncbi.nlm.nih.gov/pubmed/22163824
http://dx.doi.org/10.3390/s110403816
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