Improved Complementary Filters for Estimation of Heading and Attitude Angles in Accelerated Motion

Document Type : Dynamics, Vibrations, and Control

Authors

1 M.Sc. Student, Faculty of Electrical, Electronic Warfare & Cybernetic Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran.

2 Corresponding author: Associate Professor, Faculty of Electrical, Electronic Warfare & Cybernetic Engineering, Malek-e-Ashtar University of Technology, Tehran, Iran.

3 Assistant Professor, Faculty of Northern Research Institute of Science and Technology, Malek -e-Ashtar University of Technology, Mazandaran, Iran

4 Assistant Professor, Faculty of Northern Research Institute of Science and Technology, Malik Ashtar University of Technology, Mazandaran, Iran

Abstract

In this paper, a method for improving the performance of Complementary filter in the Attitude and Heading Reference System for estimating the orientation in accelerated movements is presented. Although existing complementary filters have advantages such as low computational volume, stability in different dynamic conditions, effectiveness at low sampling rates, and simplicity in the parameter setting process; But in the situation where the mobile device is exposed to non-gravitational accelerations, they show inappropriate performance. The proposed algorithm is designed based on the threshold-based path selection method and by adjusting the gain of complementary filters according to the size of the external acceleration, it improves the estimation of angles. In the following, the proposed algorithm is compared with the Extended Kalman filter and its three adaptive versions. The simulation and evaluation results of the proposed method show that the improved complementary filters achieve good performance in accelerated movements compared to the AEKF in the direction and alignment reference system.

Highlights

  • Orientation estimation in accelerated motion
  • Attitude and Heading Reference System
  • Improved complementary Madgwick and Mahony filters

Keywords

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References

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Aerospace Mechanics
Volume 19, Issue 2 - Serial Number 72
Serial No. 72, Summer Quarterly
September 2023
Pages 131-143

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History

  • Receive Date: 22 December 2022
  • Revise Date: 15 January 2023
  • Accept Date: 20 February 2023
  • Publish Date: 21 April 2023

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