UDC 681.3; 531.749.1
MATHEMATICAL MODEL OF INCLINOMETER BASED ON THREE-AXIS MICROELECTROMECHANICAL ACCELEROMETER
M. S. Lushnina, master student, Department of Radio Engineering Systems, RSREU, Ryazan, Russia;
orcid.org/0009-0007-5741-3147, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
E. S. Shtrunova, Ph.D (Tech.), associate professor, Department of Radio Engineering Systems, RSREU, Ryazan, Russia;
orcid.org/0000-0003-1878-8011, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
The aim of the work is to develop a mathematical model of a device that measures angular deviation of an object from a given angular orientation based on digital three-axis microelectromechanical accelerometer. The model inputs are arrays of two Euler angles – roll and pitch – describing the dynamics of angular position of the object under consideration. The article contains analytical expressions that describe the signals of three-axis micro-electromechanical accelerometer imitator with digital outputs, and consider the presence of constant offsets, the difference of scale factors along sensitivity axes, flicker noise of the sensor, as well as quantization effects. An algorithm for calculating the modulus of average angular deviation Δαavrg from a given angular orientation during the observation period is considered. The choice of minimum digit capacity of analog-to-digital converter of the accelerometer is justified. The authors show that if certain conditions are met (maximum modulo element of constant offsets vector is not more than 0.03), it is possible to ignore the calibration procedure of three-axis accelerometer, if valid relative measurement error is not higher than 5 %
Key words: : MEMS accelerometer, Euler angles, inclinometer, angular deviation module