慣性感測元件應用於姿態分析之研究

本論文之目的是研究慣性感測元件(IMU)姿態感知的應用。我們利用慣性感測元件做了兩個例子，分別是:兩輪平衡車與智慧型後照鏡。兩輪平衡車使用慣性感測器讀取加速度與陀螺儀訊號，使用互補濾波器轉換成姿態角度，傾斜角度經由PID處理，控制馬達使車體保持平衡。另一例子是設計一個智慧型後照鏡，將慣性感測元件設計成可以偵測機車騎士擺頭的姿勢，再將姿勢轉換成控制後視鏡的訊息。增加後視鏡的視野降低視角盲區，提高機車騎士對後方的警覺性，祈望降低機車騎士的肇事率。

關鍵字

姿態感知；慣性感測元件；兩輪平衡車；智慧型後照鏡

並列摘要

The purpose of this paper is to study the application of inertial sensing element (IMU) in attitude sensing. We use the inertial sensing element made two examples, namely: two-wheeled balance car and smart rear-view mirror. Two-wheel balancing vehicles use inertial sensors to read acceleration and gyroscope signals, and use complementary filters to convert attitude angles. The tilt angle is controlled by PID to keep the body balanced. Another example is the design of a smart rear-view mirror, the inertial sensing element designed to detect the position of the knight in the swing, and then convert the position into the control of the rearview mirror message. Increase the field of view of the rearview mirror reduce the blind spot of the view and improve the alertness of the locomotive rider to the rear and hope to reduce the accident rate of the motorcyclist.