Attitude and heading reference system based on 3D complementary filter

Author

Blachuta, Marian ; Grygiel, Rafal ; Czyba, Roman ; Szafranski, Grzegorz

Author_Institution

Dept. of Autom. Control, Silesian Univ. of Technol., Gliwice, Poland

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

851

Lastpage

856

Abstract

The paper presents the idea, design and performance evaluation of a low-cost Attitude and Heading Reference System (AHRS). It is based on an Inertial Measurement Unit (IMU), being a single sensor pack that provides all the raw data required to feed the designed filter. An extension of a complementary filter in form of feedback control system with PI controller, called 3D complementary filter provides attitude estimates in Euler angles representation. A developed algorithm of filtering and data fusion poses small computational requirements for the designed low-power embedded hardware. Test were performed based on the sensor model and next using a real IMU. Experimental results obtained by means of rapid prototyping of designed filtering algorithm in different operating states are presented and discussed.

Keywords

PI control; attitude control; autonomous aerial vehicles; embedded systems; feedback; 3D complementary filter; AHRS; IMU; PI controller; attitude and heading reference system; attitude estimation; feedback control system; inertial measurement unit; low-power embedded hardware; proportional-integral controller; rapid prototyping; Acceleration; Accelerometers; Equations; Feedback control; Gyroscopes; Magnetometers; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957468

Filename

6957468