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We present the design of two-wheel self-balanced electric vehicle based on MEMS. In this paper, system structure and functions, signal processing of micro-silicon accelerometer and micro-silicon gyro will be mainly discussed. Two-wheel self-balanced electric vehicle is designed based on the model of the single inverted pendulum system. The system uses two parallel wheels to maintain balance and uses...
The error model is nonlinear when the azimuth angle of strapdown inertial navigation system (SINS) on stable base is large, and a new filter results from using unscented Kalman filter for proposal distribution generation imbedding latest observed measurements in importance sampling step, and combining Gaussian mixture model and weighted expectation maximization (EM) algorithm to replace the traditional...
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