Authors : Hamidreza Moghassemi, Mohammad Kia and Hadi Khaghani Azar
Abstract: This study presents the development of a fuzzy gain scheduling scheme of complementary filters for attitude estimation of six degrees of freedom floating objects. Fuzzy rules and reasoning are utilized on-line to determine the time scale parameter (alpha) based on the gyroscope and accelerometer values commensurate with their full scale ranges. This adaptive filter combines accelerometer output for low frequency attitude estimation with integrated gyroscope output for high frequency estimation. The raw accelerometer output includes a component for the airframe acceleration that occurs predominantly in the object’s maneuvers. The validity of gyroscope or accelerometer measurements varies according to the intensity of its movements. In stable conditions, accelerometers can have better estimation on the attitude, though in maneuvers they are misleading due to the linear accelerations on the other hand gyroscopes behave contrarily. Larger time scale trusts the integrated gyro signal for longer and shorter time scale merges the accelerometer signal in faster. Experimental results show better performance since the filter is customizable corresponding different applications.
Hamidreza Moghassemi, Mohammad Kia and Hadi Khaghani Azar, 2017. Fuzzy Gain Scheduling of Complementary Filters. Journal of Engineering and Applied Sciences, 12: 864-870.