Similarity-based adaptive complementary filter for IMU fusion

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2 Citaten (Scopus)
68 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
Pagina's3044-3049
Aantal pagina's6
DOI's
StatusGepubliceerd - 27 nov 2018
Evenement16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duur: 12 jun 201815 jun 2018

Congres

Congres16th European Control Conference, ECC 2018
LandCyprus
StadLimassol
Periode12/06/1815/06/18

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