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Gyroscopic data fusion via a quaternion based complementary filter

Abstract:

We present an application of a complementary filter system to the attitude determination of a remotely operated underwater vehicle (ROV). The main contribution of this paper is to combine existing complementary filter theory with quaternion attitude representation. The combination allows accurate attitude determination by a real-time system using low cost sensors. We fuse the estimate from an extended Kalman filter (EKF) with the output from a set of vibrating structure rate gyroscopes. The E...

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Publication status:
Published

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Publisher copy:
10.1117/12.276131

Authors


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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Probert, P More by this author
Journal:
SENSOR FUSION: ARCHITECTURES, ALGORITHMS, AND APPLICATIONS
Volume:
3067
Pages:
148-159
Publication date:
1997
DOI:
ISSN:
0277-786X
URN:
uuid:4239df34-d8fe-4b4c-8d02-a5beb5683bb6
Source identifiers:
324715
Local pid:
pubs:324715

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