An adaptive extended Kalman filter for attitude estimation of Self-Balancing Two-Wheeled Robot

This paper aims to develop a multi-sensor fusion method for attitude estimation for a Self-Balancing Two-Wheeled Robot using a Micro Inertial Measurement Unit. An adaptive extended Kalman filter is proposed, which can filter the random drift error from inertial sensors, and also adaptively compensates external acceleration. External acceleration, which affects attitude estimation based on accelerometers, is a major source of attitude estimation error. The external acceleration error is compensated by adjusting the measurement noise covariance adaptively. The proposed algorithm is verified through experiments.