Design of Inclinometer for Unmanned Surface Vehicle Based on Fusion Algorithm

Inclinometer which can meet the requirement of real-time dynamic measurement is needed in the actual navigation of unmanned surface vehicle. In view of the problem that most of the traditional inclinometer in the market has high accuracy but slow response speed, a new MEMS sensor is proposed to design a small shipboard inclinometer which can meet the dynamic measurement requirements. The front end of the inclinometer is measured by MPU6050 module, and the data are transmitted to ARM microcontroller for angle calculation. The fusion strategy of Kalman filter algorithm and BP_AdaBoost algorithm is used to process the angle data. The prototype of shipboard inclinometer can measure roll angle and pitch angle. The experimental results show that the static accuracy and dynamic accuracy are 0.01° and 0.05°, respectively.