An adaptive extended Kalman filter for attitude estimation of Self-Balancing Two-Wheeled Robot

Author

Ruan, Xiao-gang ; Song, Ke-ke

Author_Institution

Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

fYear

2011

fDate

15-17 April 2011

Firstpage

4760

Lastpage

4763

Abstract

This paper aims to develop a multi-sensor fusion method for attitude estimation for a Self-Balancing Two-Wheeled Robot using a Micro Inertial Measurement Unit. An adaptive extended Kalman filter is proposed, which can filter the random drift error from inertial sensors, and also adaptively compensates external acceleration. External acceleration, which affects attitude estimation based on accelerometers, is a major source of attitude estimation error. The external acceleration error is compensated by adjusting the measurement noise covariance adaptively. The proposed algorithm is verified through experiments.

Keywords

Kalman filters; accelerometers; adaptive filters; attitude measurement; mobile robots; nonlinear filters; sensor fusion; wheels; accelerometer; adaptive extended Kalman filter; attitude estimation error; external acceleration; inertial sensor; microinertial measurement unit; multisensor fusion method; random drift error; self-balancing two-wheeled robot; Acceleration; Adaptive filters; Conferences; Estimation; Kalman filters; Mobile robots; adaptive filter; attitude estimation; extended Kalman filter; inertial sensors; sensor fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

Electric Information and Control Engineering (ICEICE), 2011 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-8036-4

Type

conf

DOI

10.1109/ICEICE.2011.5777681

Filename

5777681