中文摘要：

采用微机械倾角传感器构成前端敏感电路及利用单片机构成数字信号电路,完成倾角电压信号的提取、卡尔曼数字滤波算法、零位漂移抑制以及全方位信号合成,实现载体在任意偏航方向（0°-360°）下的全方位倾角测量。其中使用卡尔曼数字滤波算法对倾角信号进行处理,并采用MATLAB软件对其进行仿真,最终减少噪声,降低其波动性。针对系统的零位漂移问题,设计软件算法对其进行跟踪处理,消除零位误差。结果表明,x,y轴稳定性分别提高了10.95倍和12.75倍,满足非线性度要求。

英文摘要：

The extraction of inclination voltage signals, digital filtering of Kalman, zero drift suppression and omni-di- rectional signal synthesis have been carried out by using the front-end sensing circuit being constituted by MEMS inclination sensor and the digital signal circuit being constituted by the microcontroller, and the omni-directional inclination measurment of carrier in any yaw direction（0°-360°） has been realized in this work. The Kalman digital filter algorithm was used to processes the angle signal and its simulation was carried out by using MATLAB software, as a result, the noise was and its volatility were reduced. Aiming at the zero drift problems, the software algorithm was designed to eliminate the offset er- rors. The results shows that the stabilities of x-axis and y-axis are increased by 10.95 times and 12.75 times respectively, and omni-direetional inclination sensor meets the requirements of nonlinearity.