ORIENTATION AND STABILIZATION OF MARINE UNMANNED SYSTEMS WITH HWT-905 IMU: AN EXPERIMENTAL STM32-BASED APPROACH

The article discusses the integration and effectiveness of the HWT-905 digital inclinometer based on the STM32 microcontroller for control systems of marine unmanned aerial vehicles (UAVs). The key role of inclinometers in ensuring accurate orientation, stabilization and navigation of UAVs in a dynamic marine environment, where traditional positioning methods are limited, is substantiated. The principle of operation of inclinometers based on MEMS accelerometers, formulas for calculating pitch and roll angles, as well as the limitations of static measurements in dynamic conditions are described. Attention is paid to the HWT-905 sensor as an integrated inertial measurement unit (IMU) that combines an accelerometer, gyroscope, and magnetometer with an integrated data processing system, providing high accuracy and low latency. A comparative analysis of the HWT-905 with other IMU sensors (MPU-9250, BNO055, LSM9DS1) is carried out in terms of such parameters as interface, embedded computing, dimensions, software support, power consumption, and noise stability. The architecture is presented software implementation on STM32 and an example of integrating HWT-905 data into the logic of the MBA autopilot. Experimental tests on a prototype of the UAV showed significant advantages of the HWT-905 in orientation accuracy, stabilization time, resistance to false positives, as well as the efficiency of using microcontroller resources compared to alternative solutions. It is concluded that the HWT-905 based on STM32 is a rational solution for increasing the autonomy and reliability of marine unmanned systems. Promising directions for further research are outlined, including the use of machine learning, integration with other sensors (RTK-GNSS, hydroacoustic systems, video streams) and the development of multi-sensor fusion.