Kalman Filter and Complementary Filter in Attitude Estimation of APM

Feng Lin; Xi Lan Miao; Xiao Guang Qu

doi:10.4028/www.scientific.net/AMM.577.794

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 577Kalman Filter and Complementary Filter in Attitude...

Kalman Filter and Complementary Filter in Attitude Estimation of APM

Abstract:

This paper presents the results of a quaternion based extend Kalman filter (EKF) and complementary filter for ArduPilotMega (APM) attitude estimation. In addition, a new method to get the measurement noise covariance matrix R is proposed. Experimental results show that the two algorithms can meet the requirements, but the complementary filter can yield better performance than EKF.

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Periodical:

Applied Mechanics and Materials (Volume 577)

Pages:

794-797

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.577.794

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Online since:

July 2014

Authors:

Feng Lin*, Xi Lan Miao, Xiao Guang Qu

Keywords:

APM, Attitude Estimation, Complementary Filter, EKF, Quaternion, UAV

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