Complementary Filter Design Based Error Allocation for Attitude Estimation with Low-Cost Sensor

DOI

10.2991/ecae-17.2018.43How to use a DOI?

Keywords

attitude estimation; error allocation; complementary filter

Abstract

This paper investigates complementary filter de- signed for attitude estimation for low-cost inertial measurement unit and magnetometer. An error allocation strategy which focuses on two weight parameter matrices regulated according to output modulus of accelerometer and magnetometer auto-matically, is proposed. The strategy of error allocation fuses gravity reference error angle comes from accelerometer and geomagnetic reference error angle comes from magnetometer to get the reference angle error which is used to correct the angular velocity drift of gyroscope after passed proportion and integral estimator (PI estimator). Attitude is obtained with quaternion solution. Experimental results show that this error allocation strategy can get reference angle error when output modulus of accelerometer is under the acceleration threshold or the changing horizontal magnetic component is below the changing threshold.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Longhe Yang
AU  - Jianxin Ren
AU  - Kaiyue Song
AU  - Xiaofei Ma
AU  - Xinghui Yang
PY  - 2017/12
DA  - 2017/12
TI  - Complementary Filter Design Based Error Allocation for Attitude Estimation with Low-Cost Sensor
BT  - Proceedings of the 2017 2nd International Conference on Electrical, Control and Automation Engineering (ECAE 2017)
PB  - Atlantis Press
SP  - 206
EP  - 211
SN  - 2352-5401
UR  - https://doi.org/10.2991/ecae-17.2018.43
DO  - 10.2991/ecae-17.2018.43
ID  - Yang2017/12
ER  -