Tricycle Attitude Estimation and Turn Control Based on MEMS Sensing Technology

With the rapid progress in science and technology today, the demand for efficiency in people's daily lives is increasing. That demand and increase in efficiency can also be seen in the tools we now use for producing vehicles, like the tricycle. Attitude measurement is a very important aspect in the design of a tricycle's self-balancing vehicle control system. Because single sensors do not measure angle changes very accurately, and due to many other shortcomings, we now use six-axis sensors for better accuracy and precision. We get the optimal estimate of the tricycle attitude and solve the error of the sensor by using an algorithm based on KF. This algorithm is also used to obtain the accurate angle value, resulting in stable operation of the tricycle's dynamic vehicle control system.