Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Complementary Filter using Least Square Method

최소자승법을 이용한 상보필터의 설계

  • 민형기 (창원대학교 제어계측공학과) ;
  • 윤주한 (창원대학교 제어계측공학과) ;
  • 김지훈 (창원대학교 제어계측공학과) ;
  • 권성하 (창원대학교 제어계측공학과) ;
  • 정은태 (창원대학교 제어계측공학과)
  • Received : 2010.11.15
  • Accepted : 2010.12.20
  • Published : 2011.02.01
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Abstract

This paper shows a method to design complementary filter using least square. The complementary filter is one of useful filters estimating angle. The basic concept of this filter is to enhance advantages of each sensor that angle detecting using a gyroscope has good accuracy at a high frequency and an accelerometer at a low frequency. When designing complementary filter, the most commonly used method is using cut-off frequency. However, it may be not easy to obtain a cut-off frequency. This paper presents a systematic method to determine the coefficients of the complementary filter using well-known linear least squares minimizing error between estimating angle and true angle.

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References

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