Adaptive complementary filter using fuzzy logic and simultaneous perturbation stochastic approximation algorithm

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• 作者：Xiaowei Shen ; ^{shenxw602@gmail.com} ; Minli Yao ; Weimin Jia ; Ding Yuan
• 关键词：Attitude estimation ; Complementary filter ; Fuzzy logic ; Simultaneous perturbation stochastic approximation
• 刊名：Measurement
• 出版年：2012
• 期刊代码：120_02632241
• 类别：et
• 出版时间：June, 2012
• 卷：45
• 期：5
• 页码：1257-1265
• 文件大小：889 K

摘要

This paper addresses the problem of attitude estimation using low cost, small-sized inertial sensors under dynamic maneuvers. An adaptive complementary filter with fuzzy logic and simultaneous perturbation stochastic approximation (SPSA) algorithm is proposed. By recognizing the situation of dynamic condition via fuzzy logic, the cut-off frequency of the complementary filter is determined adaptively under varying vehicle dynamics. Also, the SPSA algorithm is used to tune the parameters of fuzzy system. Simulation results based on the test data show that the proposed SPSA-based fuzzy complementary filter exhibits a significant performance improvement for attitude estimation during dynamic maneuvers.