Fig. 11
From: BBot, a hopping two-wheeled robot with active airborne control
Angle estimation comparison between Kalman filter, DCM filter and complementary filter. The sensor is accelerated back and forth in a fix direction at tilt angle of \(0^{\circ }\). Kalman filter shows little fluctuation in angle estimation under the influence of linear acceleration noise. The lower graph shows the raw linear acceleration observed by the sensor