Research on attitude estimation of small self-balancing two-wheeled robot

Aiming at the error from the accelerometer (MMA7361) and the overshoot from the gyroscope (ENC03) used in the small two-wheeled self-balanced robot attitude measuring, a method combining hardware with software was proposed to get a more accurate attitude, that is to implement the information fusion of accelerometer and gyroscope by Kalman filter on the basis of the improvement of sensor hardware circuit. The attitude measuring experimental results show that the method combining software with hardware for the robot attitude information optimal estimation is feasible and effective, and the small two-wheeled robot self-balancing control experiment further illustrates that the attitude data is accurate and reliable.