We've reported on David Anderson's nBot in the past
but several readers have submitted the latest news: nBot was selected as
Robot of the Week. Having had several chances to see and play with
nBot in person, I can verify that it's truly a cool robot. A couple of
of nBot can
be found on the DPRG website.
I've written a short example of how to use a Kalman filter to produce a
tilt angle estimate from a gyro and accelerometer. tilt.c
have comments that explain the techniques used in the filter.
If you're building a balancing robot, this is an easy way to avoid
buying the expensive Microstrain FAS-G sensor that Dave Anderson used in
There are lots of other Kalman filters that I have written, but they are
not as well
documented as the 1 axis version.
is a full three axis, nine sensor attitude and heading reference filter
hand optimized to run on a small microcontroller.
is a GPS aided INS with 17 states. AHRS.cpp
is an easier to read version of the 7 state AHRS code. All the source
code is Free Software under the terms of the GPL.