计算机技术与发展2016，Vol.26Issue(8)：35-38,42,5.DOI:10.3969/j.issn.1673-629X.2016.08.007
自平衡机器人中数据融合算法的研究与实现
Research and Implementation of Data Fusion Algorithm for Self-balancing Robot
摘要
Abstract
Self-balancing robot is general and uses the data collected by gyroscope and accelerometer to control its balance,which can be applied to various complex environments. In order to improve the response of the system because of its limited accuracy and punctuality, the discrete Kalman algorithm is utilized for fusion of the data acquired from the gyroscope ( ENC-03 ) and accelerometer ( MMA-7260). Research of the traditional Kalman algorithm is carried on,then establishment of its model for self balancing robot,finally intro-duction of its engineering implementation. According to the real-time monitoring,it can be seen that the angle calculated from the acceler-ometer without angle infusion has great noise both in its dynamic and static aspects. The angle acquired from Kalman filtering algorithm fusion is smooth and stable,achieving the desired effect.关键词
自平衡机器人/加速度计/陀螺仪/卡尔曼算法/数据融合Key words
self balancing robot/accelerometer/gyroscope/Kalman algorithm/data fusion分类
信息技术与安全科学引用本文复制引用
吕传龙,曹华杰,刘浩东..自平衡机器人中数据融合算法的研究与实现[J].计算机技术与发展,2016,26(8):35-38,42,5.基金项目
全国大学生创新基金资助重点项目(201310292023Z) （201310292023Z）
江苏省“挑战杯-卓越杯”基金资助项目(201310292023Z) （201310292023Z）
