Research on filtering problem in inertial sensors for a Two-wheeled self-Balanced robot - 文章详情页

作者：

Gao, Y. (Gao, Y..) | Ruan, X. (Ruan, X..) | Song, H. (Song, H..) | Chen, J. (Chen, J..)

收录：

Scopus PKU CSCD

摘要：

Aiming　at　the　random　drift　error　from　inertial　sensors　of　a　two-wheeled　self-balanced　robot　attitude　measuring　,　a　simple　and　practical　filtering　algorithm　based　on　Kalman　filter　which　was　implemented　to　information　fusion　for　inclinometer　and　gyroscope　was　proposed,　thus　realizing　optimal　estimation　for　the　robot　gesture　signal　after　sensors　error　compensation.　The　experimental　results　showed　that　the　method　based　on　Kalman　information　fusion　to　obtain　the　optimal　estimation　was　effective　and　feasible.　It　is　also　beneficial　to　complete　the　robot　self-balancing　control.

关键词：

Attitude estimation; Inertial sensors; Information fusion; Kalman filter

作者机构：

[ 1 ] [Gao, Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Ruan, X.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Song, H.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Chen, J.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

通讯作者信息：

[Gao, Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

电子邮件地址：

yuangao@emails.bjut.edu.cn

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