Abstract:
A generalized complementary filter (GCF) for attitude estimation is presented in this paper, which is based on vector observation and its cross product. With brief review...Show MoreMetadata
Abstract:
A generalized complementary filter (GCF) for attitude estimation is presented in this paper, which is based on vector observation and its cross product. With brief reviews of introductions and discussions of complementary filters in the existing literature, it is pointed out that the vector cross product plays a key role in the basis of complementary attitude filter. Both the estimation and compensation of attitude error is carried out by means of cross products. Numerical simulation and application test are performed to evaluate the proposed GCF. Simulation and experiment results show that the proposed GCF has better numerical stability and much higher computational efficiency than the multiplicative extended Kalman filter (MEKF).
Date of Conference: 08-10 August 2015
Date Added to IEEE Xplore: 01 October 2015
ISBN Information:
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- Index Terms
- Position Estimation ,
- Cross-product ,
- Filter For Estimation ,
- Simulation Results ,
- Numerical Simulations ,
- Kalman Filter ,
- Position Error ,
- Vector Production ,
- Numerical Stability ,
- Extended Kalman Filter ,
- High Computational Efficiency ,
- Reference Frame ,
- Transfer Function ,
- Angular Velocity ,
- Time Derivative ,
- Unmanned Aerial Vehicles ,
- Inertial Measurement Unit ,
- Angular Speed ,
- Coordinate Frame ,
- Euler Angles ,
- Unscented Kalman Filter ,
- Body Frame ,
- Gyroscope Bias ,
- 3D Rotation ,
- Proportional Rule ,
- Gravity Vector ,
- Noteworthy Aspect ,
- 32-bit Floating-point ,
- Angular Displacement ,
- Observation Vector
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- Index Terms
- Position Estimation ,
- Cross-product ,
- Filter For Estimation ,
- Simulation Results ,
- Numerical Simulations ,
- Kalman Filter ,
- Position Error ,
- Vector Production ,
- Numerical Stability ,
- Extended Kalman Filter ,
- High Computational Efficiency ,
- Reference Frame ,
- Transfer Function ,
- Angular Velocity ,
- Time Derivative ,
- Unmanned Aerial Vehicles ,
- Inertial Measurement Unit ,
- Angular Speed ,
- Coordinate Frame ,
- Euler Angles ,
- Unscented Kalman Filter ,
- Body Frame ,
- Gyroscope Bias ,
- 3D Rotation ,
- Proportional Rule ,
- Gravity Vector ,
- Noteworthy Aspect ,
- 32-bit Floating-point ,
- Angular Displacement ,
- Observation Vector
- Author Keywords
