The complementary filter is widely used in the low-cost state estimation of unmanned aerial vehicles because of its concise principle and small amount of calculation. With the restriction that the MEMS sensor output signals which have bias variations and high levels of noise, an attitude estimation system based on complementary filter is designed. The acceleration obtained by accelerometer and the magnetic field obtained by magnetometer were fused to revise the angular velocity output by a gyroscope. Simulation demonstrates that the system can estimate the attitude and has high accuracy and low-cost which has practical values for aircraft control systems.
Complementary filter based on quaternion for outdoor navigation of UAV
2018-08-01
174286 byte
Conference paper
Electronic Resource
English
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