Low-cost attitude and heading reference system filter using complementary method
Other Title(s)
نظام تعيين الوضع و الاتجاه باستخدام المرشح التكميلي واطئ الكلفة
Joint Authors
Abd al-Wahhab, Imad Natiq
Wannas, Aqil Ali
Muhsin, Muhammad Idris
Source
Engineering and Technology Journal
Issue
Vol. 33, Issue 9A (30 Sep. 2015), pp.2159-2173, 15 p.
Publisher
Publication Date
2015-09-30
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Topics
Abstract EN
This paper presents an orientation filter using complementary filter applicable to low-cost sensors based on micro electro-mechanical system (MEMS).
The MEMS implementation incorporates magnetic distortion and gyroscope bias drift compensation.
The filter uses a quaternion representation, allowing accelerometer and magnetometer data to be used in an analytically derived and optimized gradientdescent algorithm to compute the direction of the gyroscope measurement error as a quaternion derivative.
The benefits of the filter are: (1) low scalar arithmetic operations for each filter update, (2) It is effective at low sampling rates; e.g.
10 Hz and (3) It contains adjustable parameters defined by observable system characteristics.
The Performance was evaluated empirically using a commercially available orientation sensor and reference measurements of orientation obtained using an accurate servo motor (resolution < 0.3 degree).
A simple calibration method is presented for the use of the electric-mechanical measurement equipment in this application.
Results indicate that the filter achieves levels of accuracy exceeding that of the Kalman-based algorithm; < 0.821◦ for static RMS error and < 2.093◦ for dynamic RMS (Root Mean Square) error.
The implications of the low computational load and ability to operate at low sampling rates use of MARG (Magnetic, Angular Rate, and Gravity) sensor arrays in real-time applications of limited power, processing resources or applications that demand extremely high sampling rates.
American Psychological Association (APA)
Abd al-Wahhab, Imad Natiq& Muhsin, Muhammad Idris& Wannas, Aqil Ali. 2015. Low-cost attitude and heading reference system filter using complementary method. Engineering and Technology Journal،Vol. 33, no. 9A, pp.2159-2173.
https://search.emarefa.net/detail/BIM-655419
Modern Language Association (MLA)
Abd al-Wahhab, Imad Natiq…[et al.]. Low-cost attitude and heading reference system filter using complementary method. Engineering and Technology Journal Vol. 33, no. 9A (2015), pp.2159-2173.
https://search.emarefa.net/detail/BIM-655419
American Medical Association (AMA)
Abd al-Wahhab, Imad Natiq& Muhsin, Muhammad Idris& Wannas, Aqil Ali. Low-cost attitude and heading reference system filter using complementary method. Engineering and Technology Journal. 2015. Vol. 33, no. 9A, pp.2159-2173.
https://search.emarefa.net/detail/BIM-655419
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 2171-2173
Record ID
BIM-655419