Posture Calculation of Improved Complementary Filtering Algorithm Based on Quaternion

Abstract

Attitude calculation is a key technology used in many fields. Reliability and stability of attitude calculation are highly required in industrial design, which needs to adopt multi-sensor data fusion technology. The traditional complementary filtering algorithm has the problems of slow attenuation speed of stopband and steady-state error caused by constant drift of gyroscope. An improved complementary filtering algorithm based on quaternion is proposed for attitude calculation. By adding an integral link on the basis of complementary filtering, complementary filtering algorithm can make better use of accelerometers and magnetometers to compensate gyroscopes, reduce the steady-state error of the system and improve the stability of attitude solution System. An experimental platform based on STM32F103 was built for verification. The experimental results show, under static conditions, the improved complementary filtering algorithm is compared with the traditional complementary filtering algorithm, the stability of roll angle, pitch angle and heading angle are increased by 36.24%,32.0% and 18.0% respectively. Under dynamic conditions, the posture angle fluctuations calculated by the improved algorithm are smaller, and stabilization and convergence are faster. Compared to a conventional complementary filtering algorithm is controlled more easily.