Open AccessComplementary Filter for Attitude Estimation Based on MARG and Optical Flow Sensors
Author(s) -
Xiang Li,
Qian Xu,
Shi Qiu,
Yanmei Tang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2010/1/012160
Subject(s) - accelerometer , acceleration , gyroscope , gravitational acceleration , filter (signal processing) , optical flow , magnetometer , earth's magnetic field , control theory (sociology) , computer science , artificial intelligence , computer vision , gravitation , physics , engineering , magnetic field , aerospace engineering , classical mechanics , image (mathematics) , control (management) , operating system , quantum mechanics
The combination of tri-axial magnetometer, accelerometer, and gyroscope has been widely used for three-dimensional attitude measurement, and this combination is also called MARG sensor. However, the measurement of accelerometer contains both the gravitational and motional acceleration, and only the former is useful for attitude estimation. As a result, MARG-based attitude estimation is easily disturbed by motion acceleration. In this paper, we introduce a complementary filter that estimates gravity and geomagnetic vectors in parallel, and utilize an optical flow sensor to detect and compensate motion acceleration. Experiment results show that the proposed algorithm has better performance than the existing ones when experiencing linear acceleration.