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Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
Department of Aerospace Engineering, Sejong University, Seoul 143-747, Korea
Youngpoong Electronics Co., Changwon, Kyungnam 641-847, Korea
* Author to whom correspondence should be addressed.
Received: 20 February 2011; in revised form: 24 March 2011 / Accepted: 26 March 2011 / Published: 29 March 2011
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
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Cite This Article
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.
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.
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.