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Sensors 2011, 11(4), 3816-3830; doi:10.3390/s110403816
Article

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

1
, 1,* , 2
 and 1
Received: 20 February 2011; in revised form: 24 March 2011 / Accepted: 26 March 2011 / Published: 29 March 2011
(This article belongs to the Section Physical Sensors)
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Abstract: 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.
Keywords: AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Yoo, T.S.; Hong, S.K.; Yoon, H.M.; Park, S. Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System. Sensors 2011, 11, 3816-3830.

AMA Style

Yoo TS, Hong SK, Yoon HM, Park S. Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System. Sensors. 2011; 11(4):3816-3830.

Chicago/Turabian Style

Yoo, Tae Suk; Hong, Sung Kyung; Yoon, Hyok Min; Park, Sungsu. 2011. "Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System." Sensors 11, no. 4: 3816-3830.



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