Angle Measurement of Robotic Fish Based on Kalman Filter

Zi Yi Zhao; Zhi Hu Hong; Yan Song Deng

doi:10.4028/www.scientific.net/AMM.568-570.1049

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 568-570Angle Measurement of Robotic Fish Based on Kalman...

Angle Measurement of Robotic Fish Based on Kalman Filter

Abstract:

In water polo competition of robotic fish, due to the influence of factors like ripple disturbance, target point drift and image acquisition delay, the angle between robotic fish and water polo that competition platform return has great error. To improve the shortage, this article put forward an optimal angle estimation algorithm based on Kalman filter. Let the angle go through Kalman filter to eliminate error interference in process and measurement. So that output angle approach truth value. Results of experiment prove that this method can effectively get the better angle between robotic fish and water polo.

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Periodical:

Applied Mechanics and Materials (Volumes 568-570)

Pages:

1049-1053

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.568-570.1049

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Online since:

June 2014

Authors:

Zi Yi Zhao, Zhi Hu Hong, Yan Song Deng*

Keywords:

Angle Measurement, Kalman Filter, Robotic Fish, Water Polo Competition of Robotic Fish

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* - Corresponding Author

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