Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference SystemReportar como inadecuado




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1

Department of Aerospace Engineering, Sejong University, Seoul 143-747, Korea

2

Youngpoong Electronics Co., Changwon, Kyungnam 641-847, Korea





*

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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. View Full-Text

Keywords: AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor





Autor: Tae Suk Yoo 1, Sung Kyung Hong 1,* , Hyok Min Yoon 2 and Sungsu Park 1

Fuente: http://mdpi.com/



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