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This document discusses the design of nonlinear complementary filters for attitude estimation using low-cost inertial measurement units (IMUs). It introduces two types of filters, the direct and passive complementary filters, which are formulated on the special orthogonal group to ensure stability and robustness against noise. The paper also presents experimental results demonstrating the effectiveness of these observers in practical applications, particularly in robotics and aerial vehicles.
- Author
- hu shawn
- Language
- EN