Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter [PDF]
Micromachines, 2021 In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is
Mei Liu +3 more
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Cascaded Complementary Filter Architecture for Sensor Fusion in Attitude Estimation [PDF]
Sensors, 2021 Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation.
Parag Narkhede +4 more
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Generalized Nonlinear Complementary Attitude Filter [PDF]
Journal of Guidance, Control, and Dynamics, 2011 This work describes a family of attitude estimators that are based on a generalization of Mahony's nonlinear complementary filter. This generalization reveals the close mathematical relationship between the nonlinear complementary filter and the more ...
Jensen, Kenneth
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On power-complementary FIR filters [PDF]
IEEE Transactions on Circuits and Systems, 1985 Conditions are derived, under which two linear-phase FIR filter transfer functions H(z)and G(z) have the power-complementary property, i.e., |H(e^{j omega})|^{2} + |G(e^{jomega})|^{2} = 1.
Vaidyanathan, P. P.
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A Complementary Filter Design on SE(3) to Identify Micro-Motions during 3D Motion Tracking [PDF]
Sensors, 2020 In 3D motion capture, multiple methods have been developed in order to optimize the quality of the captured data. While certain technologies, such as inertial measurement units (IMU), are mostly suitable for 3D orientation estimation at relatively high ...
Gia-Hoang Phan +5 more
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A Fuzzy Tuned and Second Estimator of the Optimal Quaternion Complementary Filter for Human Motion Measurement with Inertial and Magnetic Sensors [PDF]
Sensors, 2018 To accurately measure human motion at high-speed, we proposed a simple structure complementary filter, named the Fuzzy Tuned and Second EStimator of the Optimal Quaternion Complementary Filter (FTECF).
Xiaoyue Zhang, Wan Xiao
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Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and a Camera [PDF]
Sensors, 2020 Using a standalone camera for pose estimation has been quite a standard task. However, the point correspondence-based algorithms require at least four feature points in the field of view. This paper considers the situation that there are only two feature
Lingxiao Zheng, Xingqun Zhan, Xin Zhang
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Information Fusion Based on Complementary Filter for SINS/CNS/GPS Integrated Navigation System of Aerospace Plane [PDF]
Sensors, 2020 In order to solve the problems of heavy computational load and poor real time of the information fusion method based on the federated Kalman filter (FKF), a novel information fusion method based on the complementary filter is proposed for strapdown ...
Yanming Zhao +3 more
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Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System [PDF]
Sensors, 2011 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.
Sungsu Park +3 more
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Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking [PDF]
Sensors, 2018 Rigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration
Chunzhi Yi +6 more
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