期刊名称：International Journal of Signal Processing, Image Processing and Pattern Recognition
印刷版ISSN：2005-4254
出版年度：2015
卷号：8
期号：7
页码：97-110
DOI：10.14257/ijsip.2015.8.7.10
出版社：SERSC
摘要：Complementary filters coupled with MEMS IMU are preferred in applications where computational simplicity, low power and low cost is of prime importance. Such algorithms are equipped with fixed filter's gain, however improvements can be realized by changing the filter's gain as per the dynamic situation experienced by the platform. This paper is intended to evaluate the performance of conventional fixed gain complementary algorithm against adoptive gain complementary filter for attitude estimation using MEMS IMU as a test subject. As only IMU (Inertial Measurement Unit) has been exploited without using any aided sensory system, so the mandate is limited to evaluate performance of these algorithms on the basis of Euler angles roll and pitch estimation. Significant performance improvement is observed by varying filter gain in accordance with dynamic situation experienced by the system
