Affiliation:
1. Wroclaw University of Technology
Abstract
This paper presents a practical implementation of a complementary filter for 3D attitude estimation in an indoor setting. The structure of the filter is chosen basing on design principles described in [. It demonstrates the basic foundations of a complementary filter and proposes a simple and concise implementation for sensor fusion of data collected using an IMU and a Hokuyo URG 04LX laser scanner. Experimental results are shown for a handheld test bed satisfactory quality of estimation.
Publisher
Trans Tech Publications, Ltd.
Subject
Condensed Matter Physics,General Materials Science,Atomic and Molecular Physics, and Optics
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