Artificial neural network for tilt compensation in yaw estimation

Abstract

nputs. The dataset for training and testing the ANN was collected based on a 3D nonmagnetic scaled platform, using a low-cost IMU and a Raspberry Pi platform. On one hand, our method outperforms the conventional tilt-compensation technique and other complementary filters (Madgwick and Mahony) in terms of accuracy, as evidenced by the root mean square error (RMSE = 1.95 ). However, this superiority comes at the expense of a more complex system that consumes more processing time