Complimentary Filter Design on the Special （互补滤波器设计的特殊）.pdfVIP

Proceedings of the MoC03.3 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seville, Spain, December 12-15, 2005 Complementary filter design on the special orthogonal group SO(3) Robert Mahony Tarek Hamel Jean-Michel Pflimlin Department of Engineering, I3S-CNRS LAAS - CNRS Australian National University, Nice-Sophia Antipolis, France Toulouse, France ACT, 0200, AUSTRALIA. thamel@i3s.unice.fr pflimlin@laas.fr mahony@ieee.org Abstract— This paper considers the problem of obtaining and control design for systems on SO(3) working in the high quality attitude extraction and gyros bias estimation from quaternion representation. In the last few years some authors typical low cost inertial measurement units for applications in have tackled the joint estimation and control problem in this control of unmanned aerial vehicles. Two different non-linear complementary filters are proposed: Direct complementary filter framework [9]. These filters turn out to be very closely related and Passive non-linear complementary filter. Both filters evolve to the complementary filters in common use in practice. explicitly on the special orthogonal group SO(3) and can be In this paper we study the design of complementary filters expressed in quaternion form for easy implementation. An on SO(3) in a general setting. We consider the question extensio