Discussion
A complementary filter has a crossover at 0.1 Hz. Motion faster than this is taken principally from
Answer: C
Correct answer: The gyros
In a complementary filter the gyro signal is high-pass filtered and the accelerometer or magnetometer reference low-pass filtered, and the two are summed. Motion faster than the crossover - here \( 0.1 \) Hz - is therefore taken principally from the gyros, which respond quickly and are quiet over short intervals.
The slow behaviour comes from the reference sensors, which are noisy and disturbed by manoeuvring but do not drift. The crossover is thus a statement about which sensor is trusted at which timescale, and choosing it is the design compromise a Kalman filter replaces with an adaptive weighting.
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