Tilt Angle Detection Using Gyro and Accelerometer Sensor Fusion

This project aims at determining tilt angle of an object. For this reason, a fusion of gyro sensors and MEMS accelerometers have been utilized. At the first step, Levenberg-Marquardt optimization method was adopted to calibrate the accelerometer sensor. Next, after finding sensitivity coefficients of the gyro sensor, moving average filter has been used to reduce system’s susceptibility to noise. Ultimately, by fusing the data from the gyro sensor with those of the accelerometer, it is attempted to find inclination angle. Performance of the fusion algorithm discussed base on experiment and simulation. The results reveal that the proposed fusion algorithm has compensated time delay, susceptibility to noise, and accelerometer sensor motion sensitivity. In addition, it has corrected cumulative error of the gyro sensor in determining rotation angle.