Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

FILTER DESIGN FOR TILT MEASURE USING AN ACCELEROMETER

TYPE MMA7361L
Romi Wiryadinata1), Niko A. Agus1), Wahyuni Martiningsih1), Vicky D. Nevangga1), Sri Kliwati2)
1)

SINKEN Research Group, Lab. Kendali, Sultan Ageng Tirtayasa University - UNTIRTA
2)
RocketTechnology Center,National Institute of Aeronautics and Space - LAPAN
romi@wiryadinata.web.id

Abstract
This paper discusses about measurement the tilt angleof the Earth's surface using a Micro Electromechanical System (MEMS),
accelerometer MMA7361L on the two-way movement, pitch (x-axis) and roll (y-axis). The method to measure the tilt angle is uses
the effects of static acceleration due to gravity. Datameasured by accelerometer, processed by the microcontroller to obtain the
actual value of the angle. The results showed the average difference between the angle measured of the accelerometer with the
actual measured using a protractor angle is 2.258 degree on the pitch motion and 1.075 degree on the roll. The angle
measurementby accelerometer having a non-linear trend at an angle above 70 degree, the biggest margin of pitch motion contained
in 90 degree is equal to 17.76 degree and on the roll motion contained in -90 degree is equal to 8.4 degree.
Key Words: MMA7361L MEMS, tilt accelerometer, microcontroller, pitch and roll angle.

1. Introduction
Advance the technology of Micro Electro Mechanical System (MEMS) based on silicon micro machine, such as
accelerometer sensor has pushed the cost assembling the devices down. The low cost unit parts and user-friendly
applications have made the accelerometer now often encountered in various systems related to the measurement.
Measurement of acceleration and its derivatives, such as vibration and tilt angle, has become very common in many
applications. Tilt sensor is often used a variety of tools to measure, indicate, or provide information on the various
levels of signal slope. A tilt sensor can be defined as a device that produces output that varies in accordance with
changes in the angle of tilt[5].
There are many types of MEMS accelerometer sensors are used to measure acceleration, vibration, and tilt angle. Each
sensor has different characteristics in terms of signal output, the cost of development and the type of operating
environment. Acceleration measurements can also provide speed information to perform once integral and position
information with an integral two times. Static acceleration due to gravity can be used to determine the tilt [2].
Combination of low cost MEMS accelerometer will allow for tilt angle measurement and monitoring equipment for
wider application [6].
This paper discusses the use ofMEMS accelerometer to measure the tilt angle of the surface. Accelerometer is able to
measure the dynamic and static acceleration [6]. The dynamic acceleration is measured on moving objects, while the
static acceleration is measured on unmoving objects with the influence of the earths gravity. Measurement the angle
of an object is only required measuring static acceleration.
2.

Measurement system
Tilt angle measurements system in this study consists of the accelerometer sensor, signal conditioning in the form
of low pass filter, a microcontroller, and Liquid Crystal Display (LCD), as presented in Figure 1.

Accelerometer

Signal
Conditioning

Microcontroller

Display LCD

Figure 1. Block diagram of the tilt angle measurement system

Tilt angle was measured using MMA7361L accelerometer can measure two axes (axis) measurements. Accelerometer
MMA7361L provides acceleration measurement range of 1.5 g and can measure angles from -90 degrees to +90
degrees. Tilt angle measurements performed on the pitch movement (accelerometer x axis) and roll movement
(accelerometer y axis).
Output signal from the accelerometer MMA7361L in analog voltage entered into a signal conditioning circuit LPF.
LPF is used to filter the data and reduce the noise contained in the accelerometer idle. LPF output accelerometer data is
entered into the microcontroller to be changed from an analog signal to a digital signal using ADC (Analog to Digital
Converter) facility located on the microcontroller. Type microcontroller used the ATMega128 which has a 10-bit
ADC. Accelerometer data is processed by the microcontroller to obtain the angle in degree and display on LCD
display.
257

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

2.1.

Axis measurement of the tilt angle

Illustration axis tilt angel measurement using accelerometer sensor which assumed that an object placed on it
can be shown in Figure 2.

Figure 2. Measurement axis tilt sensor

XB, YB, ZBis the coordinate axis of the object, while XA, YA, ZAis the axis of the object. Pitch and roll angles references to
the horizontal plane perpendicular to the surface of the earth. Pitch is defined as the angle between the XB axis and the
horizontal or rotational movement along the Y-axis, while the roll axis is the axis between YB axis and the horizontal or
rotational movement along the X-axis.
2.2. Tilt angle measurement method
Methods used to measure the tilt angle in general are to use static acceleration effect due to gravity [4]. Method
of measuring the angle on one axis is shown in Figure 3.

Figure 3. Method of measuring the angle on one axis

Determination of the tilt angle on one axis can be found using equation (1) and equation (2) [4].

 

= Accelerometer output voltage(Volt)

= Offset voltage at 0g(Volt)

= Sensitivity)

= Earths gravity

= Tilt angle (degree)

(1)

Equation (1) can be reduced again to equation (2) to find the angle of tilt.



258

(2)

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

2.3.

Microcontroller ADC Conversion Value

In order to activate the ADC facility, the registers are needed to set into ADMUC, ADCSRA and ADCH mode.
The reference voltage for the ADC can be adjusted to a maximum of 5 V. Microcontroller ADC analog input voltage
must be greater than 0 V and smaller than the reference of the ADC, as expressed in Equation (3) [1].

Vin = ADC input voltage

VReff = Reference voltage

(Volt)
(Volt)

1024

(3)

Output range results from 0 to 1023 (210 = 1024) using 10-bit or from 0 to 255 (8 bit = 28 = 256) 8-bit ADC. Equation
(3) can be rearranged to obtain the Vin value of the ADC input voltage or sensor output voltage into equation (4).



 

(4)

3.
3.1.

System Design
Accelerometer Design
Accelerometer is an acceleration sensor, the output of the voltage per gravity (mV/g). Accelerometer sensors
measure acceleration due to movement of objects attached to it [8]. Accelerometer offset voltage is affected by the
orientation sensor and static acceleration of each axis due to gravity. Acceleration is positive has a signal output
continues to increase in the offset voltage, while for negative acceleration the output will decrease signal voltage offset
downward [3].
MMA7361L accelerometer sensor was used in this research form of modules. This sensor is used to read the tilt angle
of inclination of the Earths surface in the pitch and roll movements. MMA7361L accelerometer measurement used the
range 1.5 g, acceleration measurements with sensitivity of 800mV/g. This sensor requires +3.3 volt DC power with a
small current consumption. In the accelerometer module used already contained 3.3 volts, so the voltage regulator +5
volts DC can be given directly to the VCC pin without the need to make 3.3 volt power supply circuit again.
MMA7361L accelerometer has 14 pin consisting of pin power supply input, output pin, pin sleep mode, and pin to
adjust the sensitivity of the sensor. Figure 4 shows the configuration of the pins on the accelerometer MMA7361L.

Figure 4.Pins configuration accelerometer MMA7361L

3.2. ATMega128 Microcontroller Design

ATMega128 microcontroller is a (Alf and Vegards Risc (AVR) microcontroller family which has a capacity of
128 Kb flash memory. Microcontroller AVR is equipped with ADC facilitate the data processing without need to add
external ADC. Microcontroller is used the brain of the entire data processing system that works. Minimum system
circuit board ATMega128 microcontroller and accelerometer module is shown in Figure 5.

259

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

Figure 5.Minimum system circuit board and accelerometer module

Circuit board minimum ATMega128 microcontroller systems and accelerometer modules made in the board to
minimize the size and use of cable.
3.3. Low Pass Filter Design
LPF (Low Pass Filter) circuit is advantageous in filtering out unwanted low-frequency signals with highfrequency signal withstand undesirable [7]. Low pass filter active circuits in additional to using some passive
components such as resistors and capacitors, also uses active component operational amplifier (op-amp) can be set
according to the desired [6].
Active low pass filter 2 pieces order of circuit R-C filter and operational amplifier circuits. With this type of circuit
configuration is quite simple, using op-amps and other supporting components such as resistors and capacitor, so as to
minimize the size of electronic devices [10]. The set of low pass filter types Chebychev-Sallen key second order is
shown in figure 6.

Figure 6.Low pass filter type Chebychev-Sallen key second order .

The magnitude of the cut-off (fc) frequency of the low pass filter circuit in Figure 6 is calculated using the equation (5)
[10].



Low pass filter circuit board made in this research can be seen Figure 7.

Figure 7.Circuit board low pass filter

260

(5)

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

4. Result of the Research

4.1. Assessment of the Low Pass Filter
The testing was carried out in two different terms. In the first term, the assessment was done without using any
filters. Meanwhile, in the second one, the assessment was carried out using two different cut-off frequency filters, i.e.
10 Hz and 1 Hz. Based on the test result, the cut-off frequency of the low pass signal will produce a more refined, so
that the estimated value of the data has a smaller variation. This is evidenced by the application of a low pass filter at
10 Hz and 1 Hz output value MMA7361L accelerometer sensor as shown in Figure 8.

350

ADC value

345
340
335
330
325

Filter 1 Hz
non filter

320
315
1

21

41

61

81
101
121
Data sampling

141

161

181

Figure 8.Accelerometer data estimation using low pass filter

According to the results of the test, the accelerometer LPF signal 1Hz has a smaller estimate of variation when
compared with LPF 10 Hz. More detail on the result of the application of a low pass filter on the accelerometer can be
seen in Table 1.
Table1.The result of the application of the accelerometer LPF
NonFilter

LPF 10Hz

LPF 1 Hz

Mean

338,415

338,52

338,86

Axis

Varian

7,87

2,21

0,16

Max

349

341

339

Min

330

336

337

Mean

358,98

359,21

359,01

Axis

Varian

5,72

2,12

0,02

Max

366

362

361

Min

351

356

359

Variation in the estimated value of the data was indicated by the value of table 1variance. Application of low pass filter
will affect the stability of the value of angle measurement. Smaller LPF makes measurement of angle values will be
stable, making it easier to be observed and recorded.
4.2. Accelerometer Testing
4.2.1. Characteristic of the Test Accelerometer
Characteristic of the accelerometer testing is determinate the effect of movement on one axis of the accelerometer
output signal is viewed through a digital oscilloscope. Testing performed on each axis pitch and roll motion.
Accelerometer output signal in a condition to move the pitch axis movement can be seen in Figure 9.

261

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

The x-axis accelerometer output signal

The y-axis accelerometer output signal

Figure 9. accelerometer signal when pitch movement

Movement test performed on the pitch axis movement towards pitch movement forward and backward direction then
last idle on condition zero condition or perpendicular to Earth. Figure 9 shows that the signal is the x-axis
accelerometer output signal looks down, up, and straight. Movement down signal indicates that the accelerometer is
moved in the direction of negative acceleration sensor or motion pitch towards the front, while the rising motion signal
indicates that the accelerometer is moved positive acceleration sensor or motion towards backward pitch. Finally, a
straight signal accelerometer at idle on the condition that the straight upright on its point offset voltage. Y-axis
accelerometer output signal on the pitch axis movements are straight lines because of the orientation of the motion
sensor is just the x-axis accelerometer, not on the y-axis accelerometer.
The next test is the test movement axis accelerometer on a roll motion. Figure acceleration output signal in a state of
motion to move the roll axis can be viewed at Figure 10.

The x-axis accelerometer output signal

accelerometer sumbu x

The y-axis accelerometer output signal

Figure 10. accelerometer signal when movement roll

Movement tests performed on the roll motion movement towards the left and roll right direction and the last idle
condition zero condition or perpendicular to the earth. Figure 10 shows that the y-axis accelerometer output signal
looks down, up and straight. Such as pitch movement testing, movement down signal indicates that the accelerometer
is moved towards the negative accelerometer sensor or in this case the roll motion towards the left, while the rising
motion signal indicates that the accelerometer tilted positive acceleration sensor or motion roll to the right. Finally,
straight signal accelerometer at idle mode on the condition that the straight upright at an offset voltage. Axis
accelerometer output signal x-axis movement on a straight line because the roll orientation sensor on the move is just
the y axis accelerometer x-axis.
4.2.2. Measurement of the Angle of the Accelerometer
Accelerometer the tilt angle measurement did by reading the accelerometer angle indicated on the LCD and
compares it with the actual measurements of angle using a protractor. Test carried out on pitch movement

262

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

(accelerometer x axis) and roll movement (y axis accelerometer). Mechanism accelerometer the tilt angle measurement
is compared with a protractor can be seen in Figure 11.

Figure 11.Accelerometer the tilt angle measurement mechanism

Graphic measurement of the angle of the accelerometer on the pitch and roll movement can be seen in Figure 12 and
Figure 13.
100
80

Sudut (degree)

60
40

17,76

20
0
-20
-40
-60
sudut busur

-80
-100

Sudut Accelerometer

Sample

Figure 12. Graphic measurement of the angle of pitch movement

Angle measurements performed on every sector 5 degrees angle between -900to 900angles on each pitch and roll
movements. The average (
) difference between the value of the accelerometer angle read on the LCD with
protractor angle measurement at a pitch of 2,258 degree movement with the greatest difference found in the
measurement 900 degree is 17.76, while the (
)on the movement of 1.075 degree roll with the greatest difference
found at an angle of -900measurements of 8.4.
Based on angle measurement using accelerometer testing has been done, the level of error or difference of angle
measurement experiencing an upward trend at the measurement point above 70 degree. Its show that the change in the
voltage value of the accelerometer data in the form presented to the ADC conversion value, no longer linear with angle
changes at a certain point that is above 70 degree angle measurement.
100
80

8,4

60
Sudut (degree)

40
20
0
-20
-40
-60
sudut busur

-80
-100

Sample

Figure 13. Graphs measuring the angle of roll motion

263

Sudut Accelerometer

Proceedings International Seminar of Aerospace Science and Technology 17th SIPTEKGAN -2013, 35: 257-264

5.

Conclusion
The results showed that the MEMS accelerometer could be used to measure the tilt angle of the earths surface at
the pitch and roll motion by exploiting the effects of static acceleration due to gravity. Average (
) difference
between the values of the x-axis accelerometer angle pitch movement with the actual angle measurement degrees of
arc 2,258 degrees and the y-axis accelerometer motion roll of 1,075.Difference in angle measurement experiences an
upward trend at the measurement point above 70 degrees. This suggests that the change in the voltage value presented
by the ADC conversion is not linear after the tilt angle reached 70 degrees measurement.
LPF implementation will be effect the value of the estimated variation of the data and the stability of the value of angle
measurement. LPF smaller variation in the estimated value of the data makes the smaller angle and measurement
values will be more stable, making it easier to be observed and recorded.
References
1. Bejo, A.:C & AVR Rahasia Kemudahan Bahasa C dalam Mikrokontroler ATmega8535,Graha Ilmu,Yogyakarta, (2007).
2. Bhat, K. and Chayalakshmi, C.L.:Tilt Angle Measurement Using Accelerometer IC and CAN Protocol Implementation
for Data Transmission, Proceedings of the 7th WSEAS International Conference on Applied Informatics and
Communications, Athens, Greece, (2007).
3. Gani, R.:Perancangan Sensor Gyroscope dan Accelerometer untuk Menentukan Sudut dan Jarak.Skripsi, Teknik Elektro,
Universitas Diponegoro, Semarang,(2011)
4. Haryanti,M. dan Kusumaningrum,N.:Aplikasi Accelerometer 3 Axis untuk Mengukur Sudut Kemiringan(Tilt) Engineering
Model Satelit Di Atas Air Bearing.Journal TESLA, vol 10, No.2, (2008).
5. Marinov, M. B., Hristov, M. H., Topalov, I.P.:Determining
Angle
Position
of
an Object Using
Accelerometers.Sozopol, Electronics, Bulgaria, (2005).
6. Mohd, S. K. K., et. al.:Development and Evaluation of a Portable Microelectromechanical System Digital Tilt Meter.
European Journal of Scientific Research,vol 36, No.4,(2009), pp.649-661.
7. Pitowarno, E.:RobotikaDesain,Kontrol,dan KecerdasanBuatan, Penerbit Andi, Yogyakarta, (2006).
8. Tuck,K.:Tilt Sensing Using Linear Accelerometers. Free scale Semiconductor Application Note AN3461. Tempe, AZ,
2007.
9. Wahyudi., Susanto, A., Widada, W., et.al.:Penentuan Faktor Kalibrasi Accelerometer MMA7260Q pada Ketiga Sumbu,
Jurnal Teknik Elektro, Jilid 11, No. 1, (2009) pp.16-22.
10. Zain, S. G., et. al.:Penerapan Low Pass Filter untuk Memperbaiki Hasil Estimasi Sudut pada Sistem Radio Tracking
Rocket. Journal Teknologi Dirgantara Vol 8, No.1,(2010).
Author Biography
Romi Wiryadinata
Born at Cilegon on July 3rd, 1983.Completed the Bachelor of Electrical Engineering (ST) field control and AI (Artificial
Intellegance) for DC motor application in Islamic University of Indonesia in 2005. Master of Electrical Engineering (M.Eng)
completed in 2007 in Electrical Engineering, Gadjah Mada University in field of AI and control for speak recognition, work
as lecturer nf the Electrical Engineering dept. of Sultan Ageng Tirtayasa University (UNTIRTA) and student research in
PUSTEKROKET, National Institute of Aeronautic and Space (LAPAN) Tarogong-Bogor with research field of inertial
navigation algorithm for a guided missile. Joined in SINKEN research group as well as chairman in charge of some research
in the field of robotics, telemetry, and intelligent control.
Wahyuni Martiningsih
Born at Surabaya on March 13th, 1963.Completed the Bachelor at Electrical Engineering (Ir) at University of Brawijaya in
1987 in filed of strong currents to study pulse code modulator signal enhancement. Master (M.Eng) at Electrical Engineering
at University of Indonesia in 2003 in the same field to analyze the effect off temperature on water contamination and failed
voltage on transformer oil. Now is currently completing a doctoral program in Electrical Engineering at Technology Institute
os Surabaya on the same field for the application of intelligent systems in the workforce system, power electronics and power
quality. Work as a senior lecturer in Electrical Engineering dept. of UNTIRTA and as treasurer in SINKEN group research
lab basic electrical machines.
Vicky D. Nevangga
Born at Tangerang on November 16th, 1989.Completed the Bachelor Engineering (ST) in the field of AI for failure analysis
on leading edge flap and slat of commercial aircraft at electrical engineering departement of UNTIRTA in 2013. Having
experience on the job training at PT. GMF Aeroasia in research about control display unit and done the thesis observation in
the same company. The research has been done is about field of aviation which developed within the field of electrical
engineering.
Sri Kliwati
Born at Klaten on July 16th, 1962.Completed the Bachelor (Dra) at Physics-Electronics/instrumentation, Gadjah Mada
University in 1987, Master (M.Kom) Computer science in 1997.Worked as a research in the lab of control and telemetry
PUSKETROKET, LAPAN Tarogong Bogor in the field of communications and instrumentation.Some research has been
done including the development of microprocessor based control system modules with the test vehicle in 2001 2003, the
development of the rocket body antenna in 2003-2004 and the development of a data telemetry antenna and rocket systems in
2004-2007.
264