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Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation
Vasconcelos J.F.; Cardeira B.; Silvestre C.; Oliveira P.; Batista P.
2011
Source PublicationIEEE Transactions on Control Systems Technology
ISSN10636536
Volume19Issue:1Pages:181-198
Abstract

This paper develops a navigation system based on complementary filtering for position and attitude estimation, with application to autonomous surface crafts. Using strapdown inertial measurements, vector observations, and global positioning system (GPS) aiding, the proposed complementary filters provide attitude estimates in Euler angles representation and position estimates in Earth frame coordinates, while compensating for rate gyro bias. Stability and performance properties of the proposed filters under operating conditions usually found in oceanic applications are derived, and the tuning of the filter parameters in the frequency domain is emphasized. The small computational requirements of the proposed navigation system make it suitable for implementation on low-power hardware and using low-cost sensors, providing a simple yet effective multirate architecture suitable to be used in applications with autonomous vehicles. Experimental results obtained in real time with an implementation of the proposed algorithm running on-board the DELFIMx catamaran, an autonomous surface craft developed at ISR/IST for automatic marine data acquisition, are presented and discussed. © 2006 IEEE.

KeywordComplementary Filters Navigation Systems Strapdown Systems Time-varying Systems
DOI10.1109/TCST.2010.2040619
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000285510700016
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Citation statistics
Cited Times [WOS]:32   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionPersonal research not belonging to the institution
AffiliationInstituto Superior Técnico
Recommended Citation
GB/T 7714
Vasconcelos J.F.,Cardeira B.,Silvestre C.,et al. Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation[J]. IEEE Transactions on Control Systems Technology,2011,19(1):181-198.
APA Vasconcelos J.F.,Cardeira B.,Silvestre C.,Oliveira P.,&Batista P..(2011).Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation.IEEE Transactions on Control Systems Technology,19(1),181-198.
MLA Vasconcelos J.F.,et al."Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation".IEEE Transactions on Control Systems Technology 19.1(2011):181-198.
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