Paper Info
Title
The Right Invariant Nonlinear Complimentary Filter for Low Cost Attitude and Heading Estimation of Platforms.
Abstract
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering (EKF) of measurements from a sensor suit which mainly includes acceterometers, gyroscopes, and a digital compass. Low cost robotic platforms demand simpler and computationally more efficient methods to address this filtering problem. Hence, nonlinear observers with constant gains have emerged to assume this role. The nonlinear complementary filter (NCF) is a popular choice in this domain which does not require covariance matrix propagation and associated computational overhead in its filtering algorithm. However, the gain tuning procedure of the complementary filter is not optimal, where it is often hand picked by trial and error. This process is counter intuitive to system noise based tuning capability offered by a stochastic filter like the Kalman filter. This paper proposes the right invariant formulation of the complementary filter, which preserves Kalman like system noise based gain tuning capability for the filler. The resulting filter exhibits efficient operation in elementary embedded hardware, intuitive system noise based gain tuning capability and accurate attitude estimation. The performance of the fitter is validated using numerical simulations and by experimentally implementing the filter on an ARDrone 2.0 micro aerial vehicle (MAV) platform.
Year
DOI
Venue
2016
10.1115/1.4037331
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Field
DocType
Volume
Alpha beta filter,Extended Kalman filter,Root-raised-cosine filter,Control theory,Control engineering,Filtering problem,Adaptive filter,Kernel adaptive filter,Invariant extended Kalman filter,Mathematics,Filter design
Journal
140
Issue
ISSN
Citations 
1
0022-0434
1
PageRank 
References 
Authors
0.36
0
3
Name
Order
Citations
PageRank
Oscar De Silva111.37
George K. I. Mann242539.50
Raymond G. Gosine325224.37