Design of Adaptive Complementary Filter for Three-Dimensional Attitude Estimation of an Android Smartphone

Jeonghyeon Yun, Byungwoon Park

Abstract:	Recently, smartphones have become a common tool for vehicle navigation, with the Global Navigation Satellite System (GNSS) serving as the primary positioning technology. GNSS-based navigation offers global coverage and high accessibility, making it widely adopted. However, in urban environments, GNSS signals are often degraded due to multipath effects and signal blockages caused by buildings, tunnels, and overpasses. These challenges lead to positioning errors, which can significantly impact navigation performance. To address these limitations, Dead Reckoning (DR) techniques that integrate GNSS with additional sensors, such as an Inertial Navigation System (INS), are widely used. DR estimates the current position by continuously updating the previous position based on estimated movement direction and distance. Since this method does not rely solely on external signals, it can maintain position updates even in GNSS-degraded environments. However, the accuracy of DR-based positioning depends heavily on precise three-dimensional (3D) attitude estimation. If attitude estimation is inaccurate, position calculations become unreliable, leading to significant navigation errors. Therefore, improving attitude estimation accuracy is crucial for enhancing the overall performance of DR-based navigation.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	1161 - 1163
Cite this article:	Yun, Jeonghyeon, Park, Byungwoon, "Design of Adaptive Complementary Filter for Three-Dimensional Attitude Estimation of an Android Smartphone," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 1161-1163. https://doi.org/10.33012/2025.20320
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