Generalized Nonlinear Complementary Attitude Filter
Optimization and Control
2011-10-04 v1
Abstract
This work describes a family of attitude estimators that are based on a generalization of Mahony's nonlinear complementary filter. This generalization reveals the close mathematical relationship between the nonlinear complementary filter and the more traditional multiplicative extended Kalman filter. In fact, the bias-free and constant gain multiplicative continuous-time extended Kalman filters may be interpreted as special cases of the generalized attitude estimator. The correspondence provides a rational means of choosing the gains for the nonlinear complementary filter and a proof of the near global asymptotic stability of special cases of the multiplicative extended Kalman filter.
Cite
@article{arxiv.1110.0274,
title = {Generalized Nonlinear Complementary Attitude Filter},
author = {Kenneth Jensen},
journal= {arXiv preprint arXiv:1110.0274},
year = {2011}
}