摘要
针对单一传感器在两轮自平衡车姿态检测中存在噪声干扰和测量误差的问题,给出一种基于卡尔曼滤波实现对陀螺仪和加速度计数据融合的姿态检测方法,该方法以加速度计X、Z轴数据反正切运算得到的倾角值作为观测量,通过对陀螺仪时间累积产生的漂移误差进行估计,不断地反馈校正最终得到姿态信息的最优估计。仿真结果表明,该方法解决了单独使用陀螺仪或加速度计的漂移问题,拥有良好的噪声抑制能力,在多种环境下都能有效提高车体姿态检测的精度。
For the noise disturbance and measurement errors in attitude estimation of two - wheel self - balancing vehicle used single sensor, the method of attitude estimation by fusing the data of gyroscope and accelerometer based on Kalman filter was proposed. The angle value obtained by arctangent calculations of accelerometer X, Z axis data has been set as the observed quantity, and the optimal estimation of attitude has been achieved by estimating the accumulated drift error of gyroscope and constant feedback correction. The simulation results demonstrate that this method can solve the drift problem when using gyroscope or accelerometer alone, and a good capability of noise suppression can be obtained, and the detection accuracy of vehicle attitude estimation in various environments can be improved effectively.
出处
《计算机仿真》
CSCD
北大核心
2014年第6期406-409,共4页
Computer Simulation
基金
教育厅自然科学研究计划项目(2010B590001)
