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A tilt measurement structure and signal detection method is proposed based on a self-demodulated fiber-Bragg grating (FBG) sensor, which consists of a couple of matched FBGs and a cantilever-based pendulum clinometer. Compared by the typical matched FBGs demodulating method, of which a sensing FBG and a demodulating filter FBG is placed separately, both matched FBGs of this tilt sensor are attached on the upper and lower surface of only one single pendulum-type cantilever element for simultaneous sensing and demodulating. So the received light power will change due to the split of the two reflected spectrum of FBGs, which is corresponding to the tilt angle. In addition, the cross-sensitivity effect of the FBG-based sensor is automatically solved due to a differential signal process method. Experimental results indicate the feasibility of the proposed idea.