AMCF-CMV: Adaptive Mahony Complementary Filtering based Attitude Compensation for Cross-water-air Medium Vehicle

Due to the significant differences in the physical properties of water and air, the impact acceleration experienced by cross-medium vehicle during the transition between water and air could decrease the attitude measurement precision dramatically. To address this issue, this paper proposes an Adaptive Mahony Complementary Filtering (AMCF) to adjust the dynamic proportional and integral (PI) parameters of the complementary filter. Simultaneously, the effects of impact acceleration on the vehicle during cross-medium transitions are mitigated by combining impact acceleration compensation techniques. Furthermore, quaternion-based attitude updates are employed to enhance the real-time and reliability of attitude estimation. Finally, the accuracy of the proposed algorithm is verified through attitude measurement experiments in cross-medium environments. The experimental results demonstrated that the proposed attitude measurement method can eliminate the influence of cross-medium impact acceleration, ensuring the accuracy and stability of vehicle attitude measurement.