Abstract
In this paper a method is proposed called data consistency measure computing of compatibility based multi-sensor Kalman fusion system, so that the measured data is obtained from several sensors constructed at a certain position rather than traditional methods of combining only one gyroscope and one accelerometer applied to current self-balancing vehicle, in order to attain a more reliable system for real time online measure and also prolong the lifetime of product. According to the measure computing of compatibility based outcome of measured angle and angular velocity, data is fused to gain the input of a proportional differential (PD) control part, which is adopted to reach the balancing stability of a self-balancing vehicle.
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Ma, S., Wang, M., Du, C., Zhao, Y. (2016). Measure of Compatibility Based Angle Computing for Balanced Posture Control on Self-balancing Vehicles. In: Huang, DS., Han, K., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2016. Lecture Notes in Computer Science(), vol 9773. Springer, Cham. https://doi.org/10.1007/978-3-319-42297-8_51
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DOI: https://doi.org/10.1007/978-3-319-42297-8_51
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