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Sensors
Volume 25
Issue 16
10.3390/s25164922
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors

by
Dimitar Dichev
1,2,
Iliya Zhelezarov
1,2,
Borislav Georgiev
1,2,*,
Tsanko Karadzhov
1,2,
Ralitza Dicheva
3 and
Hasan Hasanov
1
1
Department of Machine and Precision Engineering, Technical University of Gabrovo, 4 H. Dimitar Str., 5300 Gabrovo, Bulgaria
2
Center of competence “Smart Mechatronic, Eco-and Energy-Saving Systems and Technologies”, Technical University of Gabrovo, 5300 Gabrovo, Bulgaria
3
Department of Precision Engineering and Measurement Instruments, Technical University of Sofia 8 Kl. Ohridski Blvd, 1000 Sofia, Bulgaria
*
Author to whom correspondence should be addressed.
Sensors 2025, 25(16), 4922; https://doi.org/10.3390/s25164922 (registering DOI)
Submission received: 24 June 2025 / Revised: 25 July 2025 / Accepted: 7 August 2025 / Published: 9 August 2025
(This article belongs to the Section Physical Sensors)
Review Reports Versions Notes

Abstract

This article presents an integrated method for measuring the angular orientation of moving objects, combining a simplified mechanical structure to reduce instrumental errors with a hardware–software platform for adaptive compensation of dynamic errors. Unlike existing approaches, the method avoids inertial element stabilization by using an adaptive Kalman structure for real-time correction. Based on this method, a measuring system for determining roll and pitch has been developed and implemented using a two-channel measurement model with two independent signals and MEMS sensors. The accuracy of the system has been experimentally validated in both static and dynamic modes through a highly accurate reference system with traceability to international standards. A metrologically based methodology for quantitative assessment has also been developed, applying both the theory of error and the theory of uncertainty to provide an objective, reproducible, and traceable evaluation under real-world conditions.
Keywords: angular orientation measurement; MEMS sensors; adaptive Kalman filtration; evaluation of measurement uncertainty in dynamic measurements angular orientation measurement; MEMS sensors; adaptive Kalman filtration; evaluation of measurement uncertainty in dynamic measurements

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MDPI and ACS Style

Dichev, D.; Zhelezarov, I.; Georgiev, B.; Karadzhov, T.; Dicheva, R.; Hasanov, H. A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors. Sensors 2025, 25, 4922. https://doi.org/10.3390/s25164922

AMA Style

Dichev D, Zhelezarov I, Georgiev B, Karadzhov T, Dicheva R, Hasanov H. A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors. Sensors. 2025; 25(16):4922. https://doi.org/10.3390/s25164922

Chicago/Turabian Style

Dichev, Dimitar, Iliya Zhelezarov, Borislav Georgiev, Tsanko Karadzhov, Ralitza Dicheva, and Hasan Hasanov. 2025. "A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors" Sensors 25, no. 16: 4922. https://doi.org/10.3390/s25164922

APA Style

Dichev, D., Zhelezarov, I., Georgiev, B., Karadzhov, T., Dicheva, R., & Hasanov, H. (2025). A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors. Sensors, 25(16), 4922. https://doi.org/10.3390/s25164922

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