An Adaptive Complementary Filter For Gyroscope/Vision Integrated Attitude Estimation

Park, Chan Gook;Kang, Chang Ho;Hwang, Sanghyun;Chung, Chul Joo

  • 투고 : 2015.07.10
  • 심사 : 2016.06.19
  • 발행 : 2016.06.30


An attitude estimation algorithm which integrates gyroscope and vision measurements using an adaptive complementary filter is proposed in this paper. In order to make the filter more tolerant to vision measurement fault and more robust to system dynamics, fuzzy interpolator is applied. For recognizing the dynamic condition of the system and vision measurement fault, the cut-off frequency of the complementary filter is determined adaptively by using the fuzzy logic with designed membership functions. The performance of the proposed algorithm is evaluated by experiments and it is confirmed that proposed algorithm works well in the static or dynamic condition.


Adaptive complementary filter;Fuzzy logic;Gyro/Vision integrated attitude estimation


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연구 과제 주관 기관 : Ministry of Science, ICT & Future Planning