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Complementary filter design on the special orthogonal group SO(3)

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2005

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Abstract

This paper considers the problem of obtaining high quality attitude extraction and gyros bias estimation from typical low cost inertia! measurement units for applications in control of unmanned aerial vehicles. Two different non-linear complementary filters are proposed: Direct complementary filter and Passive non-linear complementary filter. Both filters evolve explicitly on the special orthogonal group SO(3) and can be expressed in quaternion form for easy implementation. An extension to the passive complementary filter is proposed to provide adaptive gyro bias estimation.

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https://dspace-test.anu.edu.au/handle/1885/733744894

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DevOps Pure Testing

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Conference contribution

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DOI

10.1109/CDC.2005.1582367

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