Design of First Order Complementary Filter using the Least Square Method

J.H. Yun, H.G. Min, S.-H. Kwon, and E.T. Jeung (Korea)


Gyroscope, accelerometer, least square, Complementary filter


This paper is to design first order complementary filter fusing gyroscope and accelerometer. It proposes the method to measure the filter coefficient using least square in order to minimize errors in filter design. And the results are verified after applying the design filter on the rotary pendulum system after comparing the filter with second order complementary filter.

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