Research on Attitude Estimation of Small Self-Balancing Two-Wheeled Robot

被引：0

作者：

Yu Naigong ^{[1
]}

Li Yong ^{[1
]}

Ruan Xiaogang ^{[1
]}

Wang Chuangang ^{[1
]}

机构：

[1] Beijing Univ Technol, Coll Elect Informat & Control Engn, Beijing 100124, Peoples R China

来源：

2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年

关键词：

Two-Wheeled Self-Balanced Robot; Accelerometer; Gyroscope; Information Fusion;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the error from the accelerometer (MMA7361) and the overshoot from the gyroscope (ENC03) used in the small two-wheeled self-balanced robot attitude measuring, a method combining hardware with software was proposed to get a more accurate attitude, that is to implement the information fusion of accelerometer and gyroscope by Kalman filter on the basis of the improvement of sensor hardware circuit. The attitude measuring experimental results show that the method combining software with hardware for the robot attitude information optimal estimation is feasible and effective, and the small two-wheeled robot self-balancing control experiment further illustrates that the attitude data is accurate and reliable.

引用

页码：5872 / 5876

页数：5