Steady-state inclination angle measuring system
By performing two filtering operations on the tilt angle measurement signal and combining hardware and software filtering techniques, the error problem of tilt angle measurement under vibration environment is solved, high-precision steady-state tilt angle measurement is achieved, and system complexity and cost are reduced.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SU ZHOU RUI CI DE WU LIAN KE JI YOU XIAN GONG SI
- Filing Date
- 2025-07-22
- Publication Date
- 2026-05-19
AI Technical Summary
Traditional tilt measurement devices are susceptible to vibration in vibrating environments, leading to integral drift and accumulated errors, making it difficult to meet the requirements of high-precision measurement. Furthermore, gyroscopes are expensive and consume a lot of power, and cannot independently measure static tilt angles.
The tilt sensor module, hardware filtering module, and main control module are used for two filtering processes. Combined with a second-order RC low-pass filter and an improved Kalman filter algorithm, environmental interference is eliminated and the steady-state tilt angle value is calculated.
It improves the accuracy of tilt angle measurement under vibration environment, reduces errors, and lowers system complexity and cost.
Smart Images
Figure CN224262516U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of detection and instrumentation, and more specifically to a steady-state tilt angle measurement system. Background Technology
[0002] Measurement of steady-state tilt angle under vibration environments primarily focuses on developing tilt measurement devices capable of withstanding harsh environmental conditions such as vibration and shock. These devices are widely used in various industries, including industrial automation, transportation, aerospace, and building monitoring. For example, in industrial automation, they are used to monitor the attitude of equipment in vibration environments; in transportation, they are used for tilt monitoring of vehicles, ships, and aircraft; and in building and civil engineering, they are used for tilt monitoring of structures such as bridges and high-rise buildings under dynamic loads to ensure engineering safety.
[0003] Furthermore, traditional tilt measurement techniques can be combined with instruments such as gyroscopes and tiltmeters to improve measurement accuracy and stability in environments with severe vibration. This also involves processing and analyzing the measurement data, such as using algorithms like Kalman filtering to eliminate vibration interference and improve the reliability of the measurement results.
[0004] Traditional accelerometer tilt sensors perform well in static applications, but are susceptible to acceleration caused by vibration in dynamic environments, leading to integral drift and accumulated errors. Their sensitivity to highly dynamic changes is low, making it difficult to meet the high-precision measurement requirements for small angle changes. While gyroscopes offer superior dynamic performance, they suffer from high cost and power consumption, and are easily affected by temperature changes, requiring additional compensation measures. Furthermore, gyroscopes cannot measure static tilt angles and must be used in conjunction with other sensors such as accelerometers. Additionally, in complex environments such as vibration, the data acquisition frequency, accuracy, and error characteristics of multiple sensors differ. Therefore, a steady-state tilt angle measurement system that can overcome these shortcomings is urgently needed. Utility Model Content
[0005] The purpose of this invention is to provide a steady-state tilt angle measurement system. By filtering the tilt angle measurement signal twice, the influence of environmental factors on the tilt angle measurement is eliminated, thereby increasing the accuracy of steady-state tilt angle measurement in complex environments such as vibration.
[0006] To achieve the above objectives, this utility model provides a steady-state tilt angle measurement system, comprising: a tilt angle sensor module, a hardware filtering module, a main control module, and a communication module;
[0007] The tilt sensor module is connected to the hardware filtering module, and the tilt sensor module is used to acquire tilt measurement signals.
[0008] The hardware filtering module is used to perform low-pass filtering on the tilt angle measurement signal;
[0009] The main control module is connected to the hardware filtering module. The main control module is used to perform secondary filtering on the tilt angle measurement signal and calculate the steady-state tilt angle value based on the tilt angle measurement signal after secondary filtering.
[0010] The communication module is connected to the main control module, and the main control module is also used to output the steady-state tilt angle value to an external device through the communication module.
[0011] In another embodiment, the hardware filtering module includes a second-order RC low-pass filter with a cutoff frequency of 10Hz.
[0012] In another embodiment, the steady-state tilt measurement system further includes an amplified sampling module;
[0013] The amplification sampling module is connected to the hardware filtering module and the main control module respectively;
[0014] The amplification and sampling module is used to amplify and sample the tilt angle measurement signal, and output the tilt angle measurement signal to the main control module.
[0015] In another embodiment, the amplification sampling module includes a differential amplifier and a digital-to-analog converter;
[0016] The differential amplifier is used to amplify the tilt angle measurement signal to 0-3.3V;
[0017] The digital-to-analog converter is used to sample the tilt angle measurement signal, and the sampling frequency is not less than 1 kHz.
[0018] In another embodiment, the main control unit includes a software filtering unit and a tilt angle calculation unit;
[0019] The software filtering unit is used to perform secondary filtering on the tilt angle measurement signal;
[0020] The tilt angle calculation unit is used to calculate the steady-state tilt angle value.
[0021] In another embodiment, the communication module includes a UART / RS-485 serial port and a CAN bus expansion interface.
[0022] In another embodiment, the communication module supports I 2 C and SPI dual-bus output.
[0023] In another embodiment, the steady-state tilt measurement system further includes a power supply module;
[0024] The power module is used to supply power to the steady-state tilt measurement system.
[0025] In another embodiment, the main control module is also used to periodically detect the hardware filtering module and output the detection results to an external device through the communication module.
[0026] In another embodiment, the tilt sensor module has a range of ±90° and a resolution of ≤0.01°.
[0027] The beneficial effects of this utility model are as follows: The steady-state tilt angle measurement system of this utility model includes: a tilt angle sensor module, a hardware filtering module, a main control module, and a communication module; the tilt angle sensor module is connected to the hardware filtering module, and the tilt angle sensor module is used to acquire the tilt angle measurement signal; the hardware filtering module is used to perform low-pass filtering on the tilt angle measurement signal; the main control module is connected to the hardware filtering module, and the main control module is used to perform secondary filtering on the tilt angle measurement signal, and calculate the steady-state tilt angle value based on the tilt angle measurement signal after secondary filtering; the communication module is connected to the main control module, and the main control module is also used to output the steady-state tilt angle value to an external device through the communication module. By performing two filtering operations on the tilt angle measurement signal, the influence of environmental factors on the tilt angle measurement is eliminated, thereby increasing the accuracy of steady-state tilt angle measurement in complex environments such as vibration.
[0028] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of a steady-state tilt measurement system according to an embodiment of this application. Detailed Implementation
[0030] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0031] It should be noted that references to "an embodiment," "embodiment," "example embodiment," etc., in this specification refer to the described embodiment including specific features, structures, or characteristics; however, not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.
[0032] Furthermore, certain terms are used in the specification and subsequent claims to refer to specific components or parts. Those skilled in the art will understand that manufacturers may use different names or terms to refer to the same component or part. This specification and subsequent claims do not distinguish components or parts by differences in name, but rather by differences in function. The terms "comprising" and "including" used throughout the specification and subsequent claims are open-ended and should be interpreted as "including but not limited to." Additionally, the term "connection" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connections made through other means.
[0033] Please see Figure 1 , Figure 1 This is a schematic diagram of a steady-state tilt measurement system. The system includes: a tilt sensor module, a hardware filtering module, a main control module, and a communication module. The tilt sensor module is connected to the hardware filtering module and is used to acquire tilt measurement signals. The hardware filtering module performs low-pass filtering on the tilt measurement signals. The main control module is connected to the hardware filtering module and performs secondary filtering on the tilt measurement signals, calculating the steady-state tilt value based on the secondary filtered tilt measurement signals. The communication module is connected to the main control module, and the main control module also outputs the steady-state tilt value to an external device through the communication module.
[0034] Optionally, the hardware filtering module includes a second-order RC low-pass filter with a cutoff frequency of 10Hz.
[0035] Optionally, the steady-state tilt measurement system further includes an amplification and sampling module; the amplification and sampling module is connected to the hardware filtering module and the main control module respectively; the amplification and sampling module is used to amplify and sample the tilt measurement signal, and output the tilt measurement signal to the main control module.
[0036] Optionally, the amplification and sampling module includes a differential amplifier and a digital-to-analog converter; the differential amplifier is used to amplify the tilt angle measurement signal to 0-3.3V; the digital-to-analog converter is used to sample the tilt angle measurement signal at a sampling frequency of not less than 1kHz.
[0037] Optionally, the main control unit includes a software filtering unit and a tilt angle calculation unit; the software filtering unit is used to perform secondary filtering on the tilt angle measurement signal; the tilt angle calculation unit is used to calculate the steady-state tilt angle value.
[0038] Optionally, the communication module includes a UART / RS-485 serial port and a CAN bus expansion interface.
[0039] Optionally, the communication module supports I 2 C and SPI dual-bus output.
[0040] Optionally, the steady-state tilt measurement system further includes a power supply module; the power supply module is used to supply power to the steady-state tilt measurement system.
[0041] Optionally, the main control module is also used to periodically detect the hardware filtering module and output the detection results to an external device through the communication module.
[0042] Optionally, the tilt sensor module has a range of ±90° and a resolution of ≤0.01°.
[0043] Specifically, the tilt sensor module can use a high-performance capacitive MEMS tilt sensor (range ±90°, resolution ≦0.01°).
[0044] The hardware filtering module can be a second-order RC low-pass filter composed of an input impedance matching resistor R1, a filter resistor R2, and a high-precision, low-temperature-coefficient capacitor C. Its cutoff frequency is designed to be 10Hz, effectively attenuating vibration interference greater than 10Hz. The transfer function of the second-order RC low-pass filter is:
[0045] H(s)=1(R1Cs+1)(R2Cs+1).H(s)=(R1Cs+1)(R2Cs+1)1;
[0046] Wherein, R1=10kΩ, R2=10kΩ, C=1.6μF, and the cutoff frequency fc=1 / (2πRC)≈10Hz, effectively suppressing the >10Hz component in the vibration spectrum.
[0047] The main control module can have a built-in DSP instruction set to run an improved Kalman filter algorithm to perform secondary filtering on the sampled sequence. Then, combined with the tilt sensor calibration model, it can calculate and output the steady-state tilt value in real time. The Kalman filter algorithm uses the system state equation: X(k+1)=Axk+wk,zk=Hxk+;
[0048] Where xk represents the tilt angle and bias state, and zk represents the sampled voltage; random interference is eliminated through optimal recursive estimation.
[0049] For example, taking a steady-state tilt measurement process as an example, the power module is first started to power the entire steady-state tilt measurement system. The sensor module collects the tilt measurement signal at the measurement point. After the tilt measurement signal is collected, the hardware filtering module filters the tilt measurement signal once to remove signals above 10Hz. The amplification and sampling module then amplifies the tilt measurement signal to 0-3V and samples it again. Then, the main control module uses an improved Kalman filter to perform a second filtering on the tilt measurement signal to eliminate residual vibration noise in the tilt measurement signal. After that, based on the processed tilt measurement signal, the steady-state tilt measurement value is determined by looking up a table and then sent to the external device. It should be noted that a pre-created mapping table between the tilt measurement signal and the steady-state tilt measurement value has been established. Therefore, after determining the tilt measurement signal, the steady-state tilt measurement value can be determined by looking up the table.
[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0051] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A steady-state tilt angle measurement system, characterized in that, The system includes: a tilt sensor module, a hardware filtering module, a main control module, and a communication module; The tilt sensor module is connected to the hardware filtering module, and the tilt sensor module is used to acquire tilt measurement signals. The hardware filtering module is used to perform low-pass filtering on the tilt angle measurement signal; The main control module is connected to the hardware filtering module. The main control module is used to perform secondary filtering on the tilt angle measurement signal and calculate the steady-state tilt angle value based on the tilt angle measurement signal after secondary filtering. The communication module is connected to the main control module, and the main control module is also used to output the steady-state tilt angle value to an external device through the communication module.
2. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The hardware filtering module includes a second-order RC low-pass filter with a cutoff frequency of 10Hz.
3. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The steady-state tilt angle measurement system also includes an amplified sampling module; The amplification sampling module is connected to the hardware filtering module and the main control module respectively; The amplification and sampling module is used to amplify and sample the tilt angle measurement signal, and output the tilt angle measurement signal to the main control module.
4. The steady-state tilt angle measurement system as described in claim 3, characterized in that, The amplification and sampling module includes a differential amplifier and a digital-to-analog converter; The differential amplifier is used to amplify the tilt angle measurement signal to 0-3.3V; The digital-to-analog converter is used to sample the tilt angle measurement signal, and the sampling frequency is not less than 1 kHz.
5. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The main control module includes a software filtering unit and a tilt angle calculation unit; The software filtering unit is used to perform secondary filtering on the tilt angle measurement signal; The tilt angle calculation unit is used to calculate the steady-state tilt angle value.
6. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The communication module includes a UART / RS-485 serial port and a CAN bus expansion interface.
7. The steady-state tilt angle measurement system as described in claim 6, characterized in that, The communication module supports both I²C and SPI dual-bus output.
8. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The steady-state tilt angle measurement system also includes a power supply module; The power module is used to supply power to the steady-state tilt measurement system.
9. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The main control module is also used to periodically detect the hardware filtering module and output the detection results to external devices through the communication module.
10. The steady-state tilt angle measurement system as described in claim 1, characterized in that, The tilt sensor module has a range of ±90° and a resolution of ≤0.01°.