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Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties
2012
2012 IEEE International Conference on Robotics and Automation
A high-fidelity attitude estimation technique for wide and irregular movements is proposed, in which heterogeneous inertial sensors are combined in complementary way. Although the working frequency ranges of each sensor are not necessarily complementary, inverse sensor models are utilized in order to restore the original movements. In the case of 3D rotation, the sensor dynamics displays a highly nonlinear property. Even if it is approximated by a linear system, the inverse model of a sensor
doi:10.1109/icra.2012.6224832
dblp:conf/icra/MasuyaSY12
fatcat:lgba2jlxrnaujjkwamvjhw5cru