High dynamics tilt estimation using simple observer

A tilt angle estimation was done using an sensor data fusion of inclinometer and gyroscope. The fusion was achieved using an observer structure with a simple feedback, where just advantageous sensor characteristics are extracted for the fusion signal. Therefore, a precise model of the inclinometer mechanics was derived. The observer was analyzed and designed to achieve high dynamic estimation of the real tilt angle. The fusion signal noise was analyzed due to gyroscope and inclinometer. The method was tested in a real test environment.