MICROELECTROMECHANICAL INCKINOMETER

Abstract

A variety of inclinometers are often used to measure the angle of inclination on moving objects of low maneuverability. Often, these are large devices, with a various pendulum as sensitive elements. The use of modern microelectromechanical sensing elements, as well as small microprocessors in combination with three-dimensional printing technology allows creating small and cheap devices. The paper presents the results of the synthesis of algorithmic and software micromechanical inclinometer, as well as the developed design. The micromechanical inertial measuring module MPU 6050 was used as sensitive elements, the microcontroller of the Arduino family acted as the onboard computer. An algorithmic software for the inclinometer based on the use of inertial navigation tools, namely numerical integration of the Poisson orientation equation, has been developed. Zero drifts of micromechanical gyroscopes were partially compensated by the introduction of a complementary filter. It allows you to use the signals of the accelerometers MPU 6050 for the current correction of the output matrix of the guide cosines. A series of tests was performed to select the optimal filter gain. The software for the Arduino platform in the Matlab Simulink environment was developed. This significantly accelerated the process of development and testing of the device. The case is developed in the SolidWorks environment. The use of miniature sensors and a controller allowed the use of three-dimensional printing technology for all parts of the device body. For autonomous operation, the inclinometer was additionally equipped with a battery pack. Field tests of the inclinometer model showed stable accuracy and low drift of angles on a fixed base.