Sensors | |
Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System | |
关键词: AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor; | |
DOI : 10.3390/s110403816 | |
来源: DOAJ |
【 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】
Unknown