We present an application of a complementary filter system to the attitude determination of a remotely operated underwater vehicle (ROV). The main contribution of this paper is to combine existing complementary filter theory with quaternion attitude representation. The combination allows accurate attitude determination by a real-time system using low cost sensors. We fuse the estimate from an extended Kalman filter (EKF) with the output from a set of vibrating structure rate gyroscopes. The EKF supplies high-quality low frequency information, the gyroscopes supply corresponding high frequency information. The attitude is described via a quaternion representation. We discuss how the use of quaternions is beneficial for estimator design due to the low computational burden, and lack of discontinuities and singularities. We develop a filter, which uses the difference between the EKF and gyroscopic attitude estimates (an indirect filter) to correct for drift in the gyroscopic attitude estimate. We present experimental results showing the system performance of the combined filter system.
Gyroscopic data fusion via a quaternion-based complementary filter
1997
12 Seiten, 9 Quellen
Conference paper
English
Gyroscopic data fusion via a quaternion-based complementary filter [3067-08]
British Library Conference Proceedings | 1997
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