# Estimating tilt using a three axis accelerometer

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Alex am 31 Mär. 2024
Beantwortet: Neelanshu am 18 Apr. 2024
So currently I'm trying to estimate the tilt from my accelerometer in order to transform the acceleration in the sensor fixed frame to a vertical-horizontal coordinate system and was thinking that the angle can be calculated using simple trigonometry . Where a is the measured acceleration. Since I'm only concerned about the horizontal acceleration is this formula applicable as there will be tilt in all three axes? And if not is there some way I can estimate tilt with matlab toolboxes?
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### Antworten (1)

Neelanshu am 18 Apr. 2024
Hi Alex,
The problem with measuring tilt using the method you proposed is that acceleration is a 3-dimensional vector. As such, the acceleration may contain a component in the direction of gravity, leading to an inaccurate estimation of tilt.
You can use "imufilter" function in MATLAB to estimate the tilt, as shown in the example below. However, it requires the readings from both gyroscope and accelerometer.
openExample('shared_positioning/EstimateOrientationFromIMUDataExample')
Hope this helps.
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