Complementary filter design on the special orthogonal group SO(3)

This paper considers the problem of obtaining high quality attitude extraction and gyros bias estimation from typical low cost intertial measurement units for applications in control of unmanned aerial vehiccles. Two different non-linear complementary filters are proposed: Direct complementary filter and Passive non-linear complementary filter. Both filters evolve explicity on the special orthogonal group SO(3) and can be expressed in quaternion form for easy implementation. An extension to the passive ocmplementary filter is proposed to provide adaptive gyro bias estimation.