Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System

Sensors

Tae Suk Yoo¹  Sung Kyung Hong¹  Hyok Min Yoon² 

[1] Department of Aerospace Engineering, Sejong University, Seoul 143-747, Korea; E-Mail:;Youngpoong Electronics Co., Changwon, Kyungnam 641-847, Korea; E-Mail:

关键词: AHRS;    complementary filter;    gain-scheduling;    inertial sensor;    magnetic sensor;   

DOI  :  10.3390/s110403816

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.