单片机与嵌入式系统应用Issue(5)：33-35,3.
卡尔曼滤波在两轮自平衡代步车姿态检测中的应用
Application of Kalman Filter in Two Rounds of Self-Balancing Walking Vehicle Attitude Detection
张团善 1何颖1
作者信息
- 1. 西安工程大学 电子信息学院，西安 710048
- 折叠
摘要
Abstract
The two rounds of self-balancing walking vehicle attitude detection system is introduced;MENS accelerometer and gyroscope combine with Embedded microcontroller are used.In view of accelerometer and gyroscope measurement respectively with noise and ran-dom drift error,kalman filter is used to realize sensors data fusion.In this way the sensor measurement error is compensated and the op-timum estimate of car body posture is obtained.The algorithm is ported to the microcontroller of attitude detection system,the experi-mental results show that Kalman information fusion can improve the system detection accuracy effectively.关键词
姿态检测/STM32F103RET6/卡尔曼滤波/数据融合Key words
attitude detection/STM32F103RET6/Kalman filter/data fusion分类
信息技术与安全科学引用本文复制引用
张团善,何颖..卡尔曼滤波在两轮自平衡代步车姿态检测中的应用[J].单片机与嵌入式系统应用,2014,(5):33-35,3.
