Similarity-based adaptive complementary filter for IMU fusion

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This paper addresses the attitude estimation problem using vector and gyroscope measurements. We propose a novel adaptation scheme for the complementary filter cut-off frequency which is based on the similarity between independent estimates obtained from the vector and gyroscope measurements. The adaptive complementary filter is also derived on the special orthogonal group and convergence of the filter is established. The effectiveness of our approach is demonstrated with simulation results.

Original languageEnglish
Number of pages6
Publication statusPublished - 27 Nov 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: 12 Jun 201815 Jun 2018


Conference16th European Control Conference, ECC 2018

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