DETERMINE THE VERTICAL ANGLE MISALIGNMENT FOR THE CYLINDRICAL OBJECTS USING INERTIAL MEASUREMENT SENSORS

In this article, a plan to determine the vertical deviation angle of a cylindrical object utilizing an inertial sensor block is proposed. The measurement is performed by moving the measuring device from the horizontal platform and then sliding the measuring device over the surface of the cylindrical object. Based on kinematic relationships, build an algorithm to process the signal received from the inertial sensor block to determine the axis deviation angle relative to the vertical. The algorithm to determine the angle of deviation from the vertical axis of a cylindrical object was investigated using Matlab-Simulink software. Simulation results with a gyro drift rate of 36°/h allow for determining the misalignment angle of the cylindrical object relative to the vertical direction with an error of less than 0.0046°.