Complementary Filter Optimal Tuning Methodology for Low-Cost Attitude and Heading Reference Systems with Statistical Analysis of Output Signal
Source abstract
Abstract
Complementary filters are commonly used in low-cost AHRS systems. This article presents an algorithm for selecting the time constant of a complementary filter for AHRS systems. The AHRS and complementary filtering principles of operation are described, followed by a methodology for calibrating the filter. A simple method for acquiring calibration data is introduced, and these data are subsequently used in the proposed iterative algorithm for optimal time constant selection. The described method minimizes measurement errors and improves the accuracy of the system, ensuring operational stability. For the synthesis, data are recorded in a static position of the system at various pitch and roll angles. Next, the optimal time constant of the complementary filter is determined. The statistical properties of the attitude angles are then analyzed. The proposed methodology for system assessment and analysis is discussed.
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Research context
OpenAlex topics: Inertial Sensor and Navigation · Target Tracking and Data Fusion in Sensor Networks · GNSS positioning and interference
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Departmet of Avionics and Control Systems, Rzeszów University of Technology, Powstańców Warszawy 12, 35-959 Rzeszów, Poland
Department of Mathematics, Lublin University of Technology, Nadbystrzycka 38, 20-618 Lublin, Poland
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