Inertial Sensors in the Stabilization System of the Balancing Vehicle

Inertial Sensors in the Stabilization System of the Balancing Vehicle

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The article presents the possibilities of using popular MEMS inertial sensors in the object tilt angle estimation brynje tactical beanie system and in the system for stabilizing the vertical position of the balancing robot.Two research models were built to conduct the experiment.The models use microcontroller development board of the STM32F3 series with the Cortex-M4 core, equipped jetstream ice therapy parts with a three-axis accelerometer, magnetometer and gyroscope.To determine the accuracy of the angle estimation, comparative tests with a pulse encoder were performed.