Complementary filter design on the special orthogonal group SO(3)

This paper considers the problem of obtaining high quality attitude extraction and gyros bias estimation from typical low cost intertial measurement units for applications in control of unmanned aerial vehiccles. Two different non-linear complementary filters are proposed: Direct complementary filte...

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Bibliographic Details
Published inProceedings of the 44th IEEE Conference on Decision and Control pp. 1477 - 1484
Main Authors Mahony, R., Hamel, T., Pflimlin, J.-M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Attitude control
Costs
Measurement units
Mobile robots
Noise robustness
Passive filters
Quaternions
Remotely operated vehicles
Sensor systems
Unmanned aerial vehicles
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Summary:This paper considers the problem of obtaining high quality attitude extraction and gyros bias estimation from typical low cost intertial measurement units for applications in control of unmanned aerial vehiccles. Two different non-linear complementary filters are proposed: Direct complementary filter and Passive non-linear complementary filter. Both filters evolve explicity on the special orthogonal group SO(3) and can be expressed in quaternion form for easy implementation. An extension to the passive ocmplementary filter is proposed to provide adaptive gyro bias estimation.
ISBN:9780780395671
0780395670
ISSN:0191-2216
DOI:10.1109/CDC.2005.1582367