Conditional equivalence between Extended Kalman filter and complementary filter for two-vector gyro-aided attitude determination
Measurement(2021)
摘要
•The expression of the gain matrix proposed by EKF is simplified.•The simplified gain matrix is exactly the same as the one proposed by CF.•CF is an approximation to EKF.•EKF is more stable than CF in low sampling applications.•CF relies more on the measurements of gyroscope for attitude determination.
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关键词
Extended Kalman filter,Complementary filter,Inertial and magnetic measurement units,Performance comparison,Attitude determination
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