本研究主要目的是將慣性量測單元安裝於工具機上進行工具機傾角的姿態量測，透過慣行量測單元中的加速規及陀螺儀所量測到的加速度及角速度訊號進行換算為傾斜角度訊號。為了提升量測角度的準確度，本研究使用卡爾曼濾波器及互補濾波器對兩者訊號進行資料融合，兩種濾波方法可以有效的抑制雜訊及提升精度。

In this study, the inertial measurement unit (IMU) is installed on the machine tool for the Pose Measurement of the Machine Tools. The acceleration and angular velocity signals measured by the accelerometer and gyroscope of the inertial measurement unit are converted into inclination angle signals. In order to improve the accuracy of measured angle, this study uses the Kallman filter and complementary filter to convert the data of the two signals. Both filtering methods can suppress the noise signals and improve the accuracy.