Performance comparison of velocity estimators with MEMS-based inertial sensors

We have recently proposed the adaptive velocity based on the adaptive control theory. In this paper, another velocity estimator is designed using the iterative learning observer proposed by Chen et al. we perform the experimental validation of proposed estimators with the Crossbow NAV440 that is a product of MEMSIC,Inc. Using Crossbow NAV440, we can obtain the roll, pitch, and yaw angles and their velocities and accelerations. The performances of the proposed differential filters are verified using the measurement data obtained by NAV440. Moreover, the adaptive velocity estimators are compared the proposed differential filter with the approximate differentiator and the exact differentiator.