基于互补滤波器的两轮平衡车姿态角度测量

摘要

MEMS (Micro-Electro-Mechanical Systems) gyroscopes and accelerometers exist disturbance and noises in attitude measurement of two-wheeled vehicle, which causes significant attitude errors. To issue this problem, the mean sliding algorithm applied to the gyroscope and accelerometer input signal is used to restrain DC current . Furthermore, high-frequency noises in accelerometer is suppressed with sliding filtering algorithm . Additionally, complementary filtering algorithm could combine the pretreatment signals from gyroscopes and accelerometer to obtain much more accurate angle measurement . we also analyses the relationship between the weighting factors and frequency characteristic. The method proposed above is applied to angle control in two-wheeled vehicle, greatly improving measurement accuracy.%微机电系统（Micro-Electro-Mechanical Systems，MEMS）陀螺仪和MEMS加速度计在两轮平衡车姿态测量中存在扰动和噪声，引起姿态角度测量误差。通过对陀螺仪和加速度计输入信号进行滑动扣除均值方法来抑制直流分量，利用滑动滤波算法抑制加速度计高频噪声，引入互补滤波算法将预处理后的陀螺仪和加速度计信号进行融合，得到更加准确稳定的角度测量值，分析了融合算法中加权因子与滤波频率特征之间的关系。该方法应用到两轮平衡车的运行姿态角度控制中，提高了对姿态角度测量的精度。