International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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An Adaptive Complementary Filter For Gyroscope/Vision Integrated Attitude Estimation

  • Park, Chan Gook (Department of Mechanical & Aerospace Engineering/ Automation and Systems Research Institute, Seoul National University) ;
  • Kang, Chang Ho (Department of Mechanical & Aerospace Engineering, Seoul National University) ;
  • Hwang, Sanghyun (Agency for Defense Development) ;
  • Chung, Chul Joo (Agency for Defense Development)
  • Received : 2015.07.10
  • Accepted : 2016.06.19
  • Published : 2016.06.30
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Abstract

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.

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Acknowledgement

Supported by : Ministry of Science, ICT & Future Planning

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