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

Sensors

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