城市巡航者

Abstract

With the development of The Times, in recent years, the application of two-wheel selfbalancing car has been very rapid application and development. The single-axle two-wheel vehicle system itself is a natural unstable body, which must be balanced by some control means. In order to realize the self-balancing control of vehicle body, the detection system must be designed reasonably to obtain accurate vehicle attitude information. This paper introduces an attitude detection system based on inertial sensors for a single-axle double-wheel self-balancing vehicle, analyzes and compares the performance of each inertial sensor in the attitude detection system and the characteristics of complementary functions. A simple complementary filtering algorithm is proposed for data fusion of gyroscope and accelerometer, and several possible problems in practical application are discussed, so as to effectively improve the detection performance of the system.