| 两轮载人自平衡车姿态测量单元设计 |
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| 引用本文： | 傅忠云,朱海霞,孙金秋,刘文波.两轮载人自平衡车姿态测量单元设计[J].科学技术与工程,2015,15(15). |
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| 作者姓名： | 傅忠云 朱海霞 孙金秋 刘文波 |
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| 作者单位： | 1. 南京航空航天大学金城学院,南京,210016
2. 南京航空航天大学自动化学院,南京,210016 |
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| 基金项目： | 航空基金（2011zc52034） |
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| 摘 要： | 为提高自平衡车姿态角测量精度,利用惯性传感器MPU6050及STM32微处理器,采用参数可调的自适应显性互补滤波算法,结合陀螺仪和加速度计数据分别进行高频和低频姿态估计,设计了自平衡车姿态角测量单元。系统在线测试结果表明,该检测单元设计简单,算法易于实现,姿态角的估计精度高,为自平衡控制的实现提供了保证。
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| 关 键 词： | 自平衡车 姿态测量 惯性测量单元 自适应显性互补滤波 |
| 收稿时间： | 2014/11/17 0:00:00 |
| 修稿时间： | 2014/12/25 0:00:00 |
Design of attitude measurement unit for two-wheel self-balanced vehicle |
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| Fu Zhong-yun,and.Design of attitude measurement unit for two-wheel self-balanced vehicle[J].Science Technology and Engineering,2015,15(15). |
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| Authors: | Fu Zhong-yun and |
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| Abstract: | In order to improve the precision of self-balanced vehicle attitude, an attitude measurement system composed of MPU6050 and STM32 is designed. The data of accelerometer and gyroscope are fused through the complementary filter, which is called the adaptive explicit complementary filter algorithm. It combines the output of accelerometer for low frequency estimation with gyroscope for high frequency estimation. The online test of actual system shows that the algorithm is suitable for implementation on embedded hardware, which provides a guarantee for self-balancing control. |
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| Keywords: | Self-balanced vehicle Attitude estimation IMU Adaptive explicit complementary filter |
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