Similarity-based adaptive complementary filter for IMU fusion

A.R.P. Andriën; D.J. Guerreiro Tomé Antunes; M.J.G. van de Molengraft; W.P.M.H. Heemels

doi:10.23919/ECC.2018.8550358

Similarity-based adaptive complementary filter for IMU fusion

A.R.P. Andriën, D.J. Guerreiro Tomé Antunes, M.J.G. van de Molengraft, W.P.M.H. Heemels

Control Systems Technology

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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
Pages	3044-3049
Number of pages	6
DOIs	https://doi.org/10.23919/ECC.2018.8550358
Publication status	Published - 27 Nov 2018
Event	16th European Control Conference (ECC 2018) - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018 Conference number: 16

Conference

Conference	16th European Control Conference (ECC 2018)
Abbreviated title	ECC 2018
Country/Territory	Cyprus
City	Limassol
Period	12/06/18 → 15/06/18

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10.23919/ECC.2018.8550358

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Cite this

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AB - 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.

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Similarity-based adaptive complementary filter for IMU fusion

Abstract

Conference

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