CAJ | 학술논문

介绍了一种 ME N S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。
개소료일충 ME N S가속도계、타라의여감입식미공제기상결합적량륜자평형대보차자태검측계통。침대가속도계화타라의측량분별존재조성간우화수궤표이오차，채용잡이만려파실현전감기수거융합，보상전감기측량오차，득도차체자태적최우고계。장해산법이식도자태검측계통적미공제기중，측시결과표명잡이만신식융합가이유효제고계통검측정도。
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.