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Rapid convergence method based on improved complementary filter for attitude of self-balance mobile robot

A mobile robot and complementary filter technology, applied in directions such as navigation through velocity/acceleration measurement, can solve problems such as difficult initial real angle values, poor dynamic performance, and slow convergence

Active Publication Date: 2016-02-03
苏州力碳新能源发展有限公司
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Problems solved by technology

It cannot meet the fast convergence requirements of the attitude at the initial moment. Specifically, it is difficult for the angle value of the complementary filtering of the gyroscope and accelerometer to keep up with the initial real angle value of the mobile robot in the initial stage. The dynamic performance is poor, the convergence is slow and even easy to fall. Inverted, so the unimproved complementary filtering technology still has certain defects

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  • Rapid convergence method based on improved complementary filter for attitude of self-balance mobile robot
  • Rapid convergence method based on improved complementary filter for attitude of self-balance mobile robot
  • Rapid convergence method based on improved complementary filter for attitude of self-balance mobile robot

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[0047] A self-balancing mobile robot posture rapid convergence method based on improved complementary filtering of the present invention will be described in detail below with reference to the accompanying drawings.

[0048] Such as figure 1 As shown, the algorithm flow of the improved complementary filtering is described in detail, and the final calculated complementary filtering angle has high precision, and the real-time response is better at the initial moment.

[0049] exist figure 2 , briefly describes the schematic diagram of the self-balancing robot coordinate system, where θ is the pitch angle, λ is the roll angle, and ψ is the yaw angle.

[0050] In Matlab simulation, take σ acc =0.2, σ gro =0.04, Δθ is a white noise with a Gaussian distribution with a variance of 1 and a mean of 0. Depend on image 3 and Figure 4 Simulation shows that the improved complementary filter has faster convergence at the initial moment.

[0051] The test uses the microcontroller S...

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Abstract

The invention provides a rapid convergence method based on an improved complementary filter for an attitude of a self-balance mobile robot, and belongs to the technical field of motion control and multi-sensor data fusion. The method is mainly used at an initial motion stage of the mobile robot and enables the mobile robot to be fast stably started. An attitude detection module mainly comprises an MEMS inertial sensor, such as a micro-controller, a gyroscope, an accelerometer, and a magnetometer. According to the method, an angle of inclination estimated by a component of a gravitational field of the accelerometer is taken as auxiliary information; a yaw angle calculated by the magnetometer is obtained through compensation of the angle of inclination; and angular rate information of the gyroscope at three axes is obtained through an euler angle attitude algorithm. Data of the gyroscope and an auxiliary sensor is fused through a complementary filter with parameters flexibly adjusted, and an optimum attitude angle is calculated in time. According to the method, the attitude detection module can quickly respond to an initial attitude angle; noise and drift error can be obviously suppressed; the mobile robot can be quickly stably started; and the stability of the mobile robot is enhanced.

Description

technical field [0001] The present invention provides a self-balancing mobile robot posture rapid convergence method based on improved complementary filtering, which belongs to the technical field of digital filtering and multi-sensor data fusion, and mainly acts on the initial motion stage of the mobile robot to enable it to start quickly and smoothly. Background technique [0002] The accuracy and speed of attitude calculation will directly affect the stability, reliability and ease of implementation of movement or flight control algorithms. Therefore, attitude calculation is a prerequisite for the realization of movement or flight control. With the development of MEMS technology and computer technology, low-cost strapdown inertial measurement unit (IMU) is generally used to measure the attitude of small two-wheeled self-balancing robots, which is mainly composed of low-cost gyroscopes, acceleration sensors and electronic compass. The MEMS gyroscope has temperature drift c...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 周翟和吕建新赵庆涛虞波田祥瑞姚睿崔江
Owner 苏州力碳新能源发展有限公司
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