The article presents the possibilities of using popular MEMS inertial sensors in the object tilt angle estimation system and in the system for stabilizing the vertical position of wax halloween candy the balancing robot.Two research models were built to conduct the experiment.The models use microcontroller development board of the STM32F3 series with the Cortex-M4 core, equipped with a three-axis accelerometer, magnetometer and gyroscope.
To determine the accuracy 44ddd wireless bras of the angle estimation, comparative tests with a pulse encoder were performed.