Gain-scheduled complementary filter design for a MEMS based attitude and heading reference system

Sensors (Basel). 2011;11(4):3816-30. doi: 10.3390/s110403816. Epub 2011 Mar 29.

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.

Keywords: AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor.

Publication types

  • Research Support, Non-U.S. Gov't

MeSH terms

  • Aircraft*
  • Algorithms
  • Attitude
  • Humans
  • Magnetics
  • Micro-Electrical-Mechanical Systems / instrumentation*
  • Micro-Electrical-Mechanical Systems / methods*