传感技术学报2012，Vol.25Issue(4)：524-528,5.DOI:10.3969/j.issn.1004-1699.2012.04.022
基于四元数和卡尔曼滤波的两轮车姿态稳定方法
Attitude Stabilization Based on Quaternion and Kalman Filter for Two-Wheeled Vehicle
叶锃锋 1冯恩信1
作者信息
- 1. 西安交通大学电子与信息工程学院,西安710049
- 折叠
摘要
Abstract
Based on the on-line estimation of the two-wheeled self-balance vehicle's attitude angles, an attitude solution algorithm based on quaternion is used. According to the output of gyroscope, the random drift error model is fitted by Levenberg-Marquardt nonlinear least-square method. Using Kill man filter to fuse the data from gyroscope and aecelerometer,an optimal estimation for the attitude of the two-wheeled self-balance vehicle is achieved after the compensation of the angular velocity drift error of gyroscope. The results of experiments show that the attitude estimation algorithm is effective. It is beneficial to the self-control of the two-wheeled self-balance vehicle.关键词
传感器/姿态估计/四元数/卡尔曼滤波/随机漂移Key words
sensor/attitude estimation/quaternion/Kalman filter/random drift分类
信息技术与安全科学引用本文复制引用
叶锃锋,冯恩信..基于四元数和卡尔曼滤波的两轮车姿态稳定方法[J].传感技术学报,2012,25(4):524-528,5.
