학술논문
Attitude Estimation Using Inertial and Magnetic Sensors Based on Hybrid Four-Parameter Complementary Filter
Document Type
Periodical
Author
Source
IEEE Transactions on Instrumentation and Measurement IEEE Trans. Instrum. Meas. Instrumentation and Measurement, IEEE Transactions on. 69(7):5149-5156 Jul, 2020
Subject
Language
ISSN
0018-9456
1557-9662
1557-9662
Abstract
A complementary filter is presented for the attitude estimation using inertial and magnetic sensors. The proposed filter is based on a new attitude representation, where 4-D parameters (a 3-D unit vector and one angle quantity) are used. The proposed representation has an intuitive interpretation and the proposed filter has a separation property (magnetic disturbance does not affect pitch and roll angle estimation). Kinematics of the 4-D parameters and other properties are investigated. The proposed filter is verified through simulation and experiments.