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measurement and control

Two round since balance car attitude measurement and control is two round since balance car design of key link. for two round since balance car dip of measurement problem, used has Kalman more sensing fusion algorithm. the algorithm Fusion has acceleration sensor and gyroscope sensor data, achieved has two round since balance car dip real-time online estimates. According to measurement get of dip and angle speed, used has proportion differential (PD) control algorithm, achieved has two round since balance car attitude of stable control.