@ARTICLE{Laddach_Krzysztof_Estimation_2022,
 author={Laddach, Krzysztof and Łangowski, Rafał and Zubowicz, Tomasz},
 volume={70},
 number={2},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 pages={e140518},
 howpublished={online},
 year={2022},
 abstract={A low–cost measurement system using filtering of measurements for two–wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, a–b type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.},
 title={Estimation of the angular position of a two–wheeled balancing robot using a real IMU with selected filters},
 type={Article},
 URL={http://www.journals.pan.pl/Content/122539/PDF/BPASTS_2022_70_2_2561.pdf},
 doi={10.24425/bpasts.2022.140518},
 keywords={estimation, filters, measurement filtration, measurement system, two-wheeled balancing robot},
}