Abstract
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 language | English |
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| Pages | 3044-3049 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 27 Nov 2018 |
| Event | 16th European Control Conference, ECC 2018 - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018 |
Conference
| Conference | 16th European Control Conference, ECC 2018 |
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| Country | Cyprus |
| City | Limassol |
| Period | 12/06/18 → 15/06/18 |
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Cite this
Andriën, A. R. P., Guerreiro Tomé Antunes, D. J., van de Molengraft, M. J. G., & Heemels, W. P. M. H. (2018). Similarity-based adaptive complementary filter for IMU fusion. 3044-3049. Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus. https://doi.org/10.23919/ECC.2018.8550358