The real-time measurement of the tilting angle of the CPTU corn in the working process is of great significance to the measurement of soil parameters.This paper proposes a method to measure the inclination of the corn using the ADXL345 triaxial acceleration sensor

and using Kalman filter（KF）to deal with high frequency noise.Laboratory experiment shows that the error of the measured tilting angle is within 0.3°.And in actual engineering tests

after using the tilting angle to compensate the depth

the average depth deviation of the method can be reduced from 2.7 % to 0.5 %

which shows that this method can effectively improves the accuracy of the measurement.