paper: The Balance Filter

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The Balance Filter
by: ZZII 527

A Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform

After doing some research into different methods of combining accelerometer and gyroscope signals for a balancing platform like a D.I.Y. Segway, I did some experimenting of my own with a digital complementary filter. It turned out to work fairly well and is a lot easier to understand than some of the other filter references I’ve found. So, I wrote this up to document it.

filter.ppt (1.42 MB)
filter.ppt (1.43 MB)