Journal
SENSORS
Volume 11, Issue 4, Pages 3816-3830Publisher
MDPI
DOI: 10.3390/s110403816
Keywords
AHRS; complementary filter; gain-scheduling; inertial sensor; magnetic sensor
Funding
- Ministry of Land, Transport and Maritime Affairs of the Korean Government [07KLSGC03]
- Korea Agency for Infrastructure Technology Advancement (KAIA) [44747] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper describes a robust and simple algorithm for an attitude and heading reference system (AHRS) based on low-cost MEMS inertial and magnetic sensors. The proposed approach relies on a gain-scheduled complementary filter, augmented by an acceleration-based switching architecture to yield robust performance, even when the vehicle is subject to strong accelerations. Experimental results are provided for a road captive test during which the vehicle dynamics are in high-acceleration mode and the performance of the proposed filter is evaluated against the output from a conventional linear complementary filter.
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