%0 Journal Article
%T Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System
%A Tae Suk Yoo
%A Sung Kyung Hong
%A Hyok Min Yoon
%A Sungsu Park
%J Sensors
%D 2011
%I MDPI AG
%R 10.3390/s110403816
%X 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.
%K AHRS
%K complementary filter
%K gain-scheduling
%K inertial sensor
%K magnetic sensor
%U http://www.mdpi.com/1424-8220/11/4/3816