Complementary filter for determining the orientation of moving objects

The choice of the structure and parameters of the complementary filter for determining the orientation of moving objects in order to reduce its errors in the presence of gyroscope drift and significant linear accelerations is considered. For the analysis the complementary filter constructed according to the filtration scheme is accepted. First- and second-order filters are compared. For the second-order filter, two variants for constructing a filter are considered, depending on which disturbanceit is desirable to reduce in the first place.