"平衡滤波器：整合加速度计和陀螺仪测量的简单解决方案"

The classic filter, the complementary filter, is a method used for integrating accelerometer and gyroscope measurements in a balancing platform. This filter, also known as the Balance Filter, provides a simple solution for combining the data from these two sensors to accurately determine the orientation and position of the platform. The 2-axis accelerometer used in this setup measures acceleration, which is actually force per unit mass. By utilizing the formula F = ma, where F is force, m is mass, and a is acceleration, the accelerometer can measure the force of gravity. This is useful in determining the tilt of the platform, as the accelerometer readings will change depending on the orientation of the platform. For example, when the platform is level, the X-axis will read 0g and the Y-axis will read -1g. By analyzing these readings, the tilt of the platform can be calculated. The complementary filter works by combining the data from the accelerometer and gyroscope sensors to get a more accurate and reliable measurement of the platform's orientation and position. The accelerometer provides a stable long-term orientation estimate, while the gyroscope provides a more responsive short-term estimate. By combining these two measurements, the filter can compensate for the strengths and weaknesses of each sensor, resulting in a more robust and accurate reading. In conclusion, the complementary filter, or Balance Filter, is a powerful tool for integrating accelerometer and gyroscope measurements in a balancing platform. By combining the data from these sensors, this filter can provide a more accurate and reliable measurement of the platform's orientation and position, making it a valuable tool for applications that require precise control and stability.