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Article
Fractional-order complementary filters for small unmanned aerial system navigation
Journal of Intelligent and Robotic Systems
  • Calvin Coopmans, Utah State University
  • Austin Jensen, Utah State University
  • YangQuan Chen, Utah State University
Document Type
Article
Publisher
Springer Verlag
Publication Date
1-1-2014
DOI
10.1007%2Fs10846-013-9915-6
Abstract

Orientation estimation is very important for development of unmanned aerial systems (UASs), and is performed by combining data from several sources and sensors. Kalman filters are widely used for this task, however they typically assume linearity and Gaussian noise statistics. While these assumptions work well for high-quality, high-cost sensors, it does not work as well for low-cost, low-quality sensors. For low-cost sensors, complementary filters can be used since no assumptions are made with regards to linearity and noise statistics. In this article, the history and basics of complementary filters are included with examples, the concepts of filtering based on fractional-order calculus are applied to the complementary filter, and the efficacy of non-integer-order filtering on systems with non-Gaussian noise is explored with good success.

Citation Information
Calvin Coopmans, Austin Jensen and YangQuan Chen. "Fractional-order complementary filters for small unmanned aerial system navigation" Journal of Intelligent and Robotic Systems Vol. 73 Iss. 2017-01-04 (2014) p. 429 - 453
Available at: http://works.bepress.com/calvin-coopmans/24/