• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제1권1호
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• pp.55-64
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• 1997

We show that if an even length filter has the same length complementary filter in a generalized linear phase case, the complementary filter is unique, we find sufficient conditions for a unique existence of even length N complementary filter in a quadrature mirror filter bank, and we find all higher degree symmetric filters of length N + 4m which are complementary to a given symmetric filter of even length N.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.727-732
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• 2008

In this paper, the state-space representation of generalized complimentary filter is proposed. Complementary filter has the suitable structure to merge information from sensors whose frequency regions are complementary. First, the basic concept and structure of complementary filter is introduced. And then the structure of the generalized filter and its state-space representation are proposed. The state-space representation of complementary filter is able to design the complementary filter by applying modern filtering techniques like Kalman filter and $H_{\infty}$ filter. To show the usability of the proposed state-space representation, the design of Inertial Navigation System(INS) vertical channel damping loop using Global Positioning System(GPS) is described. The proposed GPS/INS damping loop lends the structure of Baro/INS(Barometer/INS) vertical channel damping loop that is an application of complementary filter. GPS altitude error has the non-stationary statistics although GPS offers navigation information which is insensitive to time and place. Therefore, $H_{\infty}$ filtering technique is selected for adding robustness to the loop. First, the state-space representation of GPS/INS damping loop is acquired. And next the weighted $H_{\infty}$ norm proposed in order to suitably consider characteristics of sensor errors is used for getting filter gains. Simulation results show that the proposed filter provides better performance than the conventional vertical channel loop design schemes even when error statistics are unknown.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.

• 한국전자통신학회논문지
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• 제10권9호
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• pp.1033-1038
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• 2015

상보 필터(Complementary Filter)는 실시간 자세계측을 위해 신호처리 방법으로 많이 사용된다. 필터 설계에서 2차 이상의 버터워즈 특성을 갖도록 하여, 통과대역에서 이득은 균일하고 차단대역에서는 차단 특성이 좋은 버터워즈 특성(Butterworth Filter)을 갖는 상보필터의 설계방법을 제안한다. 적정한 필터 계수의 설정으로 필터의 성능 개선이 이루어짐을 시뮬레이션을 통하여 입증하여 보인다. 시뮬레이션을 바탕으로 산정된 필터의 계수를 이용하여 실시간 신호처리가 가능함을 실험으로 보인다.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.125-130
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• 2011

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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.584-586
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• 2005

In this paper, low cost inertial sensor and compass were used instead of encoder for localization of mobile robot. Movements by encoder, movements by inertial sensor and movements by complementary filter with inertial sensor and compass were analyzed. Movement by complementary filter was worse than by only inertial sensor because of imperfection of compass. For the complementary filter to show best movements, compass need to be compensated for position error.

• International Journal of Aeronautical and Space Sciences
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• 제17권2호
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• pp.214-221
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• 2016

An attitude estimation algorithm which integrates gyroscope and vision measurements using an adaptive complementary filter is proposed in this paper. In order to make the filter more tolerant to vision measurement fault and more robust to system dynamics, fuzzy interpolator is applied. For recognizing the dynamic condition of the system and vision measurement fault, the cut-off frequency of the complementary filter is determined adaptively by using the fuzzy logic with designed membership functions. The performance of the proposed algorithm is evaluated by experiments and it is confirmed that proposed algorithm works well in the static or dynamic condition.

• 재활복지공학회논문지
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• 제10권1호
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• pp.29-35
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• 2016

본 논문에서는 장애인보조기구에 적용하기 위한 근거리 레이더의 반사판의 각도에 따른 데이터의 노이즈에 대한 분석과 이를 제거하기 위한 휴리스틱 알고리즘과 이동평균필터를 융합한 상보필터를 제시하고 이를 적용하여 노이즈를 제거한 실험에 대한 내용을 담고 있다. 또한 칼만 필터와의 비교와 두 개를 같이 사용했을 경우 등의 실험 결과 값 비교를 통해 제안한 필터의 효용성에 대해서 증명하였다.

• 센서학회지
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• 제25권3호
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• pp.202-207
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• 2016

Estimation of vertical position is critical in applications of sports science and fall detection and also controls of unmanned aerial vehicles and motor boats. Due to low accuracy of GPS(global positioning system) in the vertical direction, the integration of IMU(inertial measurement unit) with the GPS is not suitable for the vertical position estimation. This paper investigates an IMU-barometer integration for estimation of vertical position (as well as vertical velocity). In particular, a new two-step Kalman/complementary filter is proposed for accurate and efficient estimation using 6-axis IMU and barometer signals. The two-step filter is composed of (i) a Kalman filter that estimates vertical acceleration via tilt orientation of the sensor using the IMU signals and (ii) a complementary filter that estimates vertical position using the barometer signal and the vertical acceleration from the first step. The estimation performance was evaluated against a reference optical motion capture system. In the experimental results, the averaged estimation error of the proposed method was 19.7 cm while that of the raw barometer signal was 43.4 cm.

• 한국전자파학회논문지
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• 제17권2호
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• pp.95-100
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• 2006

본 논문에서는 고차 대역 통과 여파기의 평탄도를 개선하기 위해 증폭기, 오목한 상보형 여파기, 감쇠기로 구성된 진폭 등화기를 설계하였다. 상보형 여파기는 2n차 체비셰프 원형의 극점 위치를 조절하여 체비셰프 다항식을 수정하고 회로망 합성법을 통하여 원형 소자 값을 계산하였다. 대역 통과 여파기에서 발생하는 손실을 보상하고 반사 특성을 개선할 수 있는 증폭기와 진폭 등화기의 이득 크기를 조절하기 위한 감쇠기를 계산된 원형 소자 값을 사용하여 설계한 4차 상보형 여파기에 연결하여 진폭 등화기를 구현하였다. 제안한 진폭 등화기를 사용하여 2.3 GHz 휴대 인터넷 대역(WiBro)의 13차 대역 통과 여파기의 평탄도 특성을 6 dB 개선하였다.