Continuous Time Second Order Filter Structure

Gyro (deg/s)

+
2*k

+
1/s

+
k*k

Accel (deg)

1/s

2nd Order Complementary Filter

2.5

Gyro

2.0

Accel
Filter
1.5
Attitude (deg) & Rate (deg/s)

True Angle
1.0

0.5

0.0

-0.5

-1.0

-1.5
37.0

37.5

38.0

38.5

39.0
Time (sec)

39.5

40.0

40.5

41.0

Second Order vs 1st Order

1.4

True Angle

1.2

1st Order
2nd Order

Attitude (deg)

1.0

0.8

0.6

0.4

0.2

0.0

-0.2
0.0

0.5

1.0

1.5

2.0

Time (sec)

2.5

3.0

3.5