| 卡尔曼滤波在两轮自平衡代步车姿态检测中的应用 |
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| 引用本文： | 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. |
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| 作者姓名： | 张团善 何颖 |
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| 作者单位： | 西安工程大学电子信息学院,西安710048 |
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| 摘 要： | 介绍了一种MENS加速度计、陀螺仪与嵌入式微控制器相结合的两轮自平衡代步车姿态检测系统。针对加速度计和陀螺仪测量分别存在噪声干扰和随机漂移误差,采用卡尔曼滤波实现传感器数据融合,补偿传感器测量误差,得到车体姿态的最优估计。将该算法移植到姿态检测系统的微控制器中,测试结果表明卡尔曼信息融合可以有效提高系统检测精度。
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| 关 键 词： | 姿态检测 STMFRET 卡尔曼滤波 数据融合 |
Application of Kalman Filter in Two Rounds of Self-Balancing Walking Vehicle Attitude Detection |
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| Zhang Tuanshan,He Ying.Application of Kalman Filter in Two Rounds of Self-Balancing Walking Vehicle Attitude Detection[J].Microcontrollers & Embedded Systems,2014(5):33-35. |
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| Authors: | Zhang Tuanshan He Ying |
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| Affiliation: | (College of Electronic Information, Xi＇ an Polytechnic University, Xi＇ an 710048, China) |
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| 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. |
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| Keywords: | attitude detection STM32F103 RET6 Kalman filter data fusion |
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