Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System

被引：91

作者：

Yoo, Tae Suk ^{[1
]}

Hong, Sung Kyung ^{[1
]}

Yoon, Hyok Min ^{[2
]}

Park, Sungsu ^{[1
]}

机构：

[1] Sejong Univ, Dept Aerosp Engn, Seoul 143747, South Korea

[2] Youngpoong Elect Co, Chang Won 641847, Kyungnam, South Korea

来源：

SENSORS | 2011年 / 11卷 / 04期

关键词：

AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor; DRIFT;

D O I：

10.3390/s110403816

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

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.

引用

页码：3816 / 3830

页数：15

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