SYNTHESIS AND ANALYSIS OF COMPLEMENTARY FILTER FOR ATTITUDE DETERMINATION

Authors

  • L. М. Ryzhkov National Technical University of Ukraine "Igor Sykorsky Kyiv Polytechnic Institute"

DOI:

https://doi.org/10.18372/1990-5548.59.13635

Keywords:

Сomplementary filter, attitude, gyroscope, accelerometer, magnetometer

Abstract

The problems of synthesis and analysis of complementary filters used for determination of the moving vehicle attitude are considered. The paper deals with the complementary filter operating in an arbitrarily located reference frame determined by specific functioning of the measuring device. The transfer functions of the controllers in the correction channels of accelerometer and magnetometer are represented. It is shown that using a gyroscope and an accelerometer is accompanied with a drift relative to all axes of the reference frame. Relationships for calculating these drifts have been obtained. The simplified equations of the complementary filter relative to the orientation error were derived. The influence of the structure of the transfer function of the controller in the correction channel by the accelerometer signals on the static accuracy of the complementary filter is analyzed. It is shown that transformation of the angles to the coordinate system with a vertical axis allows eliminating the static errors caused by the magnetometer relative to the horizontal axes, at that an error relative to the vertical axis remains.

Author Biography

L. М. Ryzhkov, National Technical University of Ukraine "Igor Sykorsky Kyiv Polytechnic Institute"

Institute of Mechanical Engineering

Doctor of Engineering Science. Professor

References

Mark Euston, Paul Coote, Robert Mahony, Jonghyuk Kim and Tarek Hamel, “A Complementary Filter for Attitude Estimation of a Fixed-Wing UAV,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept., 2008, pp. 340–345.

R. Mahony, T. Hamel, and Jean-Michel Pflimlin, “Complementary filter design on the special or-thogonal group SO(3),” in Proceedings of the IEEE Conference on Decision and Control, CDC05, Seville, Spain, December 2005. Institute of Electrical and Electronic Engineers.

Fakhri Alam, Zhou ZhaiHe, and Hu JiaJia, “A Com-parative Analysis of Orientation Estimation Filters using MEMS based IMU,” 2nd International Con-ference on Research in Science, Engineering and Technology (ICRSET’2014), March 21-22, 2014 Du-bai (UAE), pp. 86–91.

Suthanthira Vanitha N., M. Mahi, and V. Patanisamy, “Magnetic and Inertial Orientation Tracking Human into Networked Synthesis Environment,” Interna-tional Jornal of Soft Computing, 1(4), pp.. 271–278, 2006.

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Issue

Vol. 1 No. 59 (2019)

Section

THEORY AND METHODS OF SIGNAL PROCESSING

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