3E. A. Wan, R. Van Der Merwe. The Unscented Kalman Filter for Nonlinear Estimation. Proceedings of the 2000 Symposium on Adaptive Systems for Signal Processing, Communications and Control. New York, USA,2000:153-158.
4Rodrigo da Silva Guerra.Kalman filter tutorial for balancing robot[EB/OL].(2014-01-28)[2014-04-06]http:// wenku.baidu.com/view/7cfe5fef102de2bd960588cb.html.
5STMicroelectronics Group of Companies.STM32F103Cx8 datasheet[EB/OL].(201 1-08-28)[2014-04-06]http://ishare.iask.sina.com.cn/f/17966465.html.