两轮载人自平衡车姿态测量单元设计

Design of Attitude Measurement Unit for Two-wheel Self-balanced Vehicle

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。

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.