Tilt measurement based on an Accelerometer, a Gyro and a Kalman Filter to control a self-balancing vehicle

This paper describes tilt measurement by means of an Accelerometer-Gyro pair to control a two-wheeled, self-balancing vehicle. The use of accelerometers and gyros to measure tilt angle is well known to entail high levels of unwanted signals of high and low frequency, thus the filter techniques are essential for their improvement. The Kalman Filter decrease measurement noise through the sensors discrete state model. The tilt measurement is feedback to a PID with anti-wind up controller which maintains the balance of the vehicle.