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An Error Model of a Complementary Filter for use in Bayesian Estimation - The CF-EKF Filter

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Academic year: 2021

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Figure

Fig. 1. Reference frames illustration. The inertial (I), body (B) and computed (C) frames are fixed to the Earth, IMU and estimated orientation by the attitude complementary filter, respectively.
Fig. 2. Input-output schematic view of the quaternion complementary filter.
Fig. 4. Kinematics states error results.
Fig. 5. Sensors bias states error results. 6. CONCLUSION

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