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A complementary filter combines gyro and accelerometer data by

  • A.Discarding the accelerometer entirely
  • B.High-pass gyro, low-pass accelerometer
  • C.Averaging the two equally
  • D.Using only the gyro when the aircraft manoeuvres

Answer: B

The gyro supplies the fast changes and the accelerometer the slow reference, and the two filters sum to unity across the frequency range. It is the simplest expression of the fusion idea and the conceptual ancestor of the Kalman filter.

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