APPARATUS AND METHODS FOR FAULT DETECTION AT VEHICLE STARTUP

摘要

A method for initializing a controller of a balancing transporter involving acquiring a plurality of orientation signals associated with the balancing transporter. The method also involves determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation sensor signals. The method also involves initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors. The method also involves controlling operation of the balancing transporter based on at least one output of the pitch state estimator.