摘要： Popular sensors that detect the quadrant of the illumination directions are often inadequate for advanced control systems, e.g., solar trackers and heliostats. We propose a theoretical and technical framework for some sensor-specific characterization tools together with an optical instrument, which makes possible the accurate measurements in terms of the illumination angle and its angular velocity at the presence of the manufacturing errors due to rough manufacturing processes (e.g., forging and casting). In particular, a parameter identification approach is employed to identify four uncertain incline angles of sensor products with the aid of an ingenious and controllable calibration device. The angular velocity of illumination is approximately derived through a one-step backward difference function together with finite impulse response filters to reject the disturbances. The experimental results show that the sensor-specific nonlinear characteristic functions improve the accuracy of the illumination angle measurement yielded by the general nonlinear characteristic functions for the ideal sensors up to 96%, where the measurement precision with 0.07° is achieved.