Decision of complementary filter coefficient through real-time error analysis for attitude estimation using an IMU
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초록
This paper proposes a method for estimating the attitude (roll and pitch angles) of an inertial measurement unit (IMU) by updating the coefficient of the complementary filter in real time. The complementary filter fuses the data of accelerometer and gyro-scope using the coefficient that can compensate the shortcomings occurring when used respectively. The proposed method determines a proper coefficient through analyzing the attitude error in real time. Specifically, the time constant of the filter, related to the coefficient, is determined by the time spent for the gyroscope error exceeds the root mean square (RMS) of the attitude calculated with accelerom-eter output. We conducted off-line analyses with experimental data to verify the performance of the proposed time-varying comple-mentary filter.
Abstract
This paper proposes a method for estimating the attitude (roll and pitch angles) of an inertial measurement unit (IMU) by updating the coefficient of the complementary filter in real time. The complementary filter fuses the data of accelerometer and gyro-scope using the coefficient that can compensate the shortcomings occurring when used respectively. The proposed method determines a proper coefficient through analyzing the attitude error in real time. Specifically, the time constant of the filter, related to the coefficient, is determined by the time spent for the gyroscope error exceeds the root mean square (RMS) of the attitude calculated with accelerom-eter output. We conducted off-line analyses with experimental data to verify the performance of the proposed time-varying comple-mentary filter.
참고문헌 (12)
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