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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ciężkowski, M.: Modeling the interaction between two-wheeled self-balancing vehicle and its rider. Int. J. Appl. Mech. Eng. 18(2), 341–351 (2013)
Tan, M., Wu, Y., et al.: Design of two-wheeled self-balancing mobile robot guided by electromagnetism. Huazhong Univ. Sci. Technol. J. 1(41), 249–252 (2013)
Grepl, R., Zouhar, F., Štěpánek, J., et al.: The development of self-balancing vehicle: a platform for education in mechatronics. Technical Comput. Prague (2011)
Li, Y., Zhao, Z., Gao, J.: Application of MEMS inertial sensor ADIS16355 in attitude measurement system. Data Collect. Process. 27(4), 501–507 (2012)
Li, Z., Wang, D.: High-precision angle measuring device based on triaxial acceleration sensor. Instrum. Technique Sens. 8, 30–32 (2013)
Zhuang, C.Q., Wu, Y.S.: An Introduction to Probability and Mathematic Statistics. South China University of Technology Press, Guangzhou (1997)
Ruppert, D.: Statistics and Data Analysis for Financial Engineering. Springer, New York (2011)
Leys, C., Ley, C., Klein, O., et al.: Detecting outliers: do not use standard deviation around the mean, use absolute deviation around the median. J. Exp. Soc. Psychol. 49(4), 764–766 (2013)
Croux, C., Rousseeuw, P.J.: Time-efficient Algorithms for Two Highly Robust Estimators of Scale, pp. 411–428. Physica-Verlag, Heidelberg (1992)
Si, G., Zhang, Y., Zhao, W.: Confidence evaluation based on consistency measure method for multi-sensor. Xi’an Jiaotong Univ. J. 47(8), 7–11 (2013)
Luo, B., Yuan, K., Chen, J., et al.: Uncertainty analysis based dynamic multi-sensor data fusion. J. Automation. 30(03), 407–415 (2004)
Ye, Z., Feng, E.: Attitude stabilization based on quaternion and kalman filter for two-wheeled vehicle. J. Sens. Technol. 25(4), 524–528 (2012)
Ma, S., Lu, T., Zhang, L.: Attitude measurement and control of two-wheeled self-balancing car. Measurment Control Technol. 34(4), 71–73 (2015)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-319-42297-8_51
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-42296-1
Online ISBN: 978-3-319-42297-8
eBook Packages: Computer ScienceComputer Science (R0)