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Complementary filter design with three frequency bands: robot attitude estimation

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dc.contributor.authorCarreira, Fernando
dc.contributor.authorCalado, João Manuel Ferreira
dc.contributor.authorCardeira, Carlos Batista
dc.contributor.authorOliveira, Paulo Jorge Coelho Ramalho
dc.date.accessioned2016-04-19T11:59:00Z
dc.date.available2016-04-19T11:59:00Z
dc.date.issued2015
dc.description.abstractThis paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.pt_PT
dc.identifier.citationCARREIRA, Paulo; [et al] - Complementary filter design with three frequency bands: robot attitude estimation. In 9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). Vila Real, Portugal: IEEE, 2015. ISBN 978-1-4673-6991-6. Pp. 168-173.pt_PT
dc.identifier.doi10.1109/ICARSC.2015.33pt_PT
dc.identifier.isbn978-1-4673-6991-6
dc.identifier.urihttp://hdl.handle.net/10400.21/6034
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherIEEE - Institute of Electrical and Electronics Engineers Inc.pt_PT
dc.subjectEstimationpt_PT
dc.subjectMobile robotspt_PT
dc.subjectSensor fusionpt_PT
dc.titleComplementary filter design with three frequency bands: robot attitude estimationpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceVila Real, Portugalpt_PT
oaire.citation.endPage173pt_PT
oaire.citation.startPage168pt_PT
oaire.citation.titleICARSC 2015, IEEE International Conference on Autonomous Robot Systems and Competitionspt_PT
person.familyNameNeves da Fonseca Cardoso Carreira
person.familyNameCalado
person.givenNameFernando Paulo
person.givenNameJoão
person.identifier370725
person.identifier.ciencia-idD019-D006-510B
person.identifier.ciencia-idB518-93E3-E7AB
person.identifier.orcid0000-0002-9873-5050
person.identifier.orcid0000-0001-6628-4657
person.identifier.ridM-4167-2013
person.identifier.scopus-author-id7006897277
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublication0cc1e99c-99cc-48dc-b13e-beacade8905d
relation.isAuthorOfPublication602b1546-f4f1-4cd5-8d29-d835d54c9bd6
relation.isAuthorOfPublication.latestForDiscovery0cc1e99c-99cc-48dc-b13e-beacade8905d

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