Reference-Free Adaptive Attitude Determination Method Using Low-Cost MARG Sensors

In this paper, an improved iterative method for attitude determination using microelectromechanical-system (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors is proposed. The proposed complementary filter is motivated by several existing algorithms and it decreases the amount of variables for iteration which consequently lowers the convergence time. To enhance the adaptive ability i.e. the performance under external acceleration, of the proposed method, a novel scheme is designed, where the gravity estimation residual is utilized for adaptive tuning of the complementary gain. Experiments are carried out to demonstrate the advantages of the proposed method. The comparisons with representative methods show that the proposed method is more effective, not only in convergence speed, but in dynamic performance under harsh conditions as well.

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