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[会议论文]

An adaptive extended Kalman filter for attitude estimation of Self-Balancing Two-Wheeled Robot

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作者:

Ruan, Xiao-Gang (Ruan, Xiao-Gang.) | Song, Ke-Ke (Song, Ke-Ke.)

收录:

EI Scopus

摘要:

This paper aims to develop a multi-sensor fusion method for attitude estimation for a Self-Balancing Two-Wheeled Robot using a Micro Inertial Measurement Unit. An adaptive extended Kalman filter is proposed, which can filter the random drift error from inertial sensors, and also adaptively compensates external acceleration. External acceleration, which affects attitude estimation based on accelerometers, is a major source of attitude estimation error. The external acceleration error is compensated by adjusting the measurement noise covariance adaptively. The proposed algorithm is verified through experiments. © 2011 IEEE.

关键词:

Inertial navigation systems Adaptive filters Extended Kalman filters Errors Balancing Adaptive filtering

作者机构:

  • [ 1 ] [Ruan, Xiao-Gang]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
  • [ 2 ] [Song, Ke-Ke]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China

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来源 :

年份: 2011

页码: 4760-4763

语种: 中文

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次: 9

近30日浏览量: 1

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