Tilt measurement based on an Accelerometer, a Gyro and a Kalman Filter to control a self-balancing vehicle

Pasaye, J. Juan Rincon; Valencia, Juan; Perez, Felix Jimenez

doi:10.1109/ropec.2013.6702711

Cited by 7 publications

(1 citation statement)

References 6 publications

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“…In addition, related data processing algorithms were adopted to improve pitch measurement accuracy. To address the high noise level with accelerometers, the KF algorithm was introduced to analyze its output data along the noises [18][19][20]. However, the mechanism of pitch measurement error has not been analyzed in detail.…”

Section: Introductionmentioning

confidence: 99%

A method for improving the performance of centering rod surveying based on two-position correction

Dai¹,

Pan²,

Yang³

et al. 2022

Meas. Sci. Technol.

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Aiming at the problem that accelerometer’s bias and scale factor error decrease the measurement accuracy of centering rod surveying, a performance improving method for pitch measurement is proposed. The error model of centering rod surveying is built so that the relationship between pitch measurement error and accelerometer’s bias and scale factor error are clear. Numerical simulations are conduced out and the error variation is revealed. A two-position correction method is come up and twelve verification experiments are carried out. After correction, the measurement error is reduced from a few centimeters to submillimeter scale. Experimental results illustrate that the accuracy of pitch measurement is improved effectively, which meets the requirements for use. Three repeated experiments are carried out, the calculated uncertainties are 0.053 %, 0.035 % and 0.027 % separately, which indicates the feasibility and effectiveness of the proposed method in practical applications. It can provide some guidance for improving the performance of centering rod surveying.

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Section: Introductionmentioning

confidence: 99%