title: Gain-scheduled complementary filter design for a MEMS based attitude and heading reference system.
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.
authors.affiliation: Department of Aerospace Engineering, Sejong University, Seoul, Korea. 62187390@hanmail.net
authors.forename: Tae Suk
authors.initials: TS
authors.lastname: Yoo
authors.forename: Sung Kyung
authors.initials: SK
authors.lastname: Hong
authors.forename: Hyok Min
authors.initials: HM
authors.lastname: Yoon
authors.forename: Sungsu
authors.initials: S
authors.lastname: Park
mesh_terms: D000401:Aircraft; D000465:Algorithms; D001290:Attitude; D006801:Humans; D008280:Magnetics; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation* / Q000379:methods*