Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties

Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

A high-fidelity attitude estimation technique for wide and irregular movements is proposed, in which heterogeneous inertial sensors are combined in complementary way. Although the working frequency ranges of each sensor are not necessarily complementary, inverse sensor models are utilized in order to restore the original movements. In the case of 3D rotation, the sensor dynamics displays a highly nonlinear property. Even if it is approximated by a linear system, the inverse model of a sensor tends to be non-proper and unstable. An idea is to decouple it into the dynamics compensation part approximated by a linear transfer function and the strictly nonlinear coordinate transformation part. Bandpass filters inserted before the coordinate transformation guarantee that the total transfer function becomes proper and stable. Particularly, the differential operator of a high-pass filter cancels the integral operator included in the dynamics compensation of the rate gyroscope, which causes instability. The proposed method is more beneficial than Kalman filter in terms of the implementation since it facilitates a systematic design of the filter.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages606-611
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Masuya, K., Sugihara, T., & Yamamoto, M. (2012). Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 606-611). [6224832] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224832