摘要
针对单轴双轮自平衡车介绍一种基于惯性传感器的姿态检测系统,分析比较各惯性传感器在姿态检测系统中的性能优劣以及功能互补的特点。提出一种简易互补滤波算法对陀螺仪和加速度计进行数据融合,并对实际应用中可能出现的几个问题进行了探讨,从而有效地提高了系统的检测性能。通过系统实际测试得到的数据绘制了曲线图,表明滤波算法对于提高系统精度是切实有效的。
An attitude estimation system based on the inertial sensors was proposed.The composition of system was discussed,and the advantages and disadvantages of the sensors were analyzed.The data coming from the inertial sensors was fusioned through the complementary filter.In this way the characteristic of the sensors can be effectively compensated.There were good results in the actual experiment also,and it had been applied in the attitude estimation of the two wheeled self-balance vehicles.The graphics based on the collected data were made,which indicated that the complementary filter was effectively to enhance the precision of the system.
出处
《中国海洋大学学报（自然科学版）》
CAS
CSCD
北大核心
2009年第S1期467-470,共4页
Periodical of Ocean University of China
基金
国家高技术研究发展计划项目(2006AA09Z243)资助
关键词
惯性传感器
陀螺仪
加速度计
互补滤波
姿态检测
inertial sensors
gyro
accelerometer
complementary filter
attitude estimation
