Proceedings of the 2016 International Forum on Management, Education and Information Technology Application

Combining Extended Kalman Filter with Complementary Filter for UAV Attitude Estimation based on MEMS MARG Sensors

Authors
Xiang Ren, Shoubin Liu
Corresponding Author
Xiang Ren
Available Online January 2016.
DOI
https://doi.org/10.2991/ifmeita-16.2016.136How to use a DOI?
Keywords
attitude estimation, data fusion, MEMS sensors, EKF, complementary filter.
Abstract
Reliable attitude information is desired for navigation and control of rotor unmanned aerial vehicles (UAV). Rotor UAV's attitude can be determined by fusing redundant data from MEMS MARG (Magnetic, Angular Rate, and Gravity) sensors with fusion techniques. The extended Kalman filter (EKF)-based fusion algorithms are commonly adopted. However, there exists a contradiction between convergence speed and noise suppression in EKF-based algorithms. This paper presents a novel fusion algorithm combining EKF with complementary filter to estimate the attitude of rotor UAV. Firstly, gyros’ measurements of angular rates are corrected by measurements of accelerometers with a Mahony passive complementary filter. The corrected angular rates as well as the measurements of accelerometers and magnetometers are then input to an EKF to implement data fusion. Results of validation experiments show that the proposed fusion method can generate attitude angles accurately and fuse multi-sensor data efficiently.
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Proceedings
2016 International Forum on Management, Education and Information Technology Application
Part of series
Advances in Social Science, Education and Humanities Research
Publication Date
January 2016
ISBN
978-94-6252-166-7
ISSN
2352-5398
DOI
https://doi.org/10.2991/ifmeita-16.2016.136How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Xiang Ren
AU  - Shoubin Liu
PY  - 2016/01
DA  - 2016/01
TI  - Combining Extended Kalman Filter with Complementary Filter for UAV Attitude Estimation based on MEMS MARG Sensors
BT  - 2016 International Forum on Management, Education and Information Technology Application
PB  - Atlantis Press
SN  - 2352-5398
UR  - https://doi.org/10.2991/ifmeita-16.2016.136
DO  - https://doi.org/10.2991/ifmeita-16.2016.136
ID  - Ren2016/01
ER  -