Attitude Estimation with Complementary Filter
An attitude estimation method is presented for a robot using low-cost solid-state inertial sensors. The attitude estimates are obtained from a complementary filter by combining the measurements from the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The results show that the estimation error is less than 1 degree compare to the reference attitude. It is a simple, yet effective method for attitude estimation, suitable for real-time implementation on a robot.
R. H. Chang et al., "Attitude Estimation with Complementary Filter", Applied Mechanics and Materials, Vols. 44-47, pp. 3781-3784, 2011