Three Dimensional Attitude Estimation via the Triad Algorithm and a Time-varying Complementary Filter

@inproceedings{Wang2012ThreeDA,
  title={Three Dimensional Attitude Estimation via the Triad Algorithm and a Time-varying Complementary Filter},
  author={Yizhou Wang and Evan Chang-Siu and Matthew Brown and Masayoshi Tomizuka and Mohammed I. Almajed},
  year={2012}
}
An innovative implementation of attitude estimation in 3 degrees of freedom (3-DOF) combining the TRIAD algorithm [1] and a time-varying nonlinear complementary filter (TVCF) is derived. This work is inspired by the good performance of the TVCF in 1-DOF [2] developed for applications limited to small mobile platforms with low computational power. To demonstrate robust 3-DOF estimation, information from vector and rate-gyroscope measurements are fused. Simulation and experimental results… CONTINUE READING
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