Abstract
In this paper, the MIMU( MEMS Inertial Measurement Unit) was used to detect the attitude angle of the two-wheeled robot. By Kalman filter, the optimal estimation of attitude angle was gotten, and which was applied to the balance controlling. In this system, FPGA is chosen as processor, and the embedded kernel was built up based on SOPC. Furthermore, the software of multiple sensors fusion has been developed. The experiment indicates that the design of this robot system is reasonable, and the Kalman filter algorithm can improve the precision of controlling effectively.
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