By Topic

Discrete time-varying attitude complementary filter

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Vasconcelos, J.F. ; Inst. Super. Tecnico, Lisbon, Portugal ; Silvestre, C. ; Oliveira, P. ; Batista, P.
more authors

This paper presents the development of an attitude complementary filter for an attitude and heading reference system (AHRS). Using strapdown inertial measurements and vector observations, the proposed complementary filter provides attitude estimates in Euler angles representation, while compensating for rate gyro bias. Stability and performance properties of the proposed filter under operating conditions usually found in oceanic applications are derived, and the tuning of the filter parameters in the frequency domain is emphasized. The proposed solution poses small computational requirements, and is suitable for implementation on low-power hardware using low-cost sensors. Experimental results obtained with an implementation of the algorithm running on-board the DELFIMx catamaran are presented and discussed.

Published in:

American Control Conference, 2009. ACC '09.

Date of Conference:

10-12 June 2009