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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. XX, NO. XX, MONTH YEAR 1
Non-linear complementary filters on the special
orthogonal group
Robert Mahony, Member, IEEE, Tarek Hamel, Member, IEEE, and Jean-Michel Pflimlin, Member, IEEE
Abstract—This paper considers the problem of obtaining good There is a considerable body of work on attitude recon-
attitude estimates from measurements obtained from typical low struction for robotics and control applications (for example
cost inertial measurement units. The outputs of such systems [1]–[4]). A standard approach is to use extended stochastic
are characterised by high noise levels and time varying additive
biases. We formulate the filtering problem as deterministic linear estimation techniques [5], [6]. An alternative is to use
observer kinematics posed directly on the special orthogonal deterministic complementary filter and non-linear observer
group driven by reconstructed
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