IMU Based Attitude Estimation Using Adaptive Complimentary Filter

Attitude estimation has its application in many areas including control of autonomous vehicles, UAVs, defining the orientation of industrial manipulator etc.. This paper describes a method for orientation estimation of an object in 3D space, by using an IMU. IMU provides information from a linear Acceleration sensor, Earth's magnetic field sensor, and an angular velocity sensor. The data received from these sensors are fused using an Adaptive Complimentary Filter to get a reliable estimate of the object orientation.