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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
1 Department of Aerospace Engineering, Sejong University, Seoul 143-747, Korea 2 Youngpoong Electronics Co., Changwon, Kyungnam 641-847, Korea
* Author to whom correspondence should be addressed.
Received: 20 February 2011 / Revised: 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 (CC BY 3.0).
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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.

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