3D Attitude Estimation in Indoor Environments with a Complementary Filter for the Special Orthogonal Group SO(3)

Abstract:

This paper presents a practical implementation of a complementary filter for 3D attitude estimation in an indoor setting. The structure of the filter is chosen basing on design principles described in [. It demonstrates the basic foundations of a complementary filter and proposes a simple and concise implementation for sensor fusion of data collected using an IMU and a Hokuyo URG 04LX laser scanner. Experimental results are shown for a handheld test bed satisfactory quality of estimation.

• Periodical: Solid State Phenomena (Volume 198)
• Pages: 153-158
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.198.153
• Online since: March 2013
• Authors: Marcin Kmiecik, Krzysztof Sibilski
• Keywords: Attitude Estimation, IMU, Indoor Environment, Indoor Operation, SO(3), UAV

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