Abstract: Aiming at the situation that the transmission line tower needs leveling control before hydraulic lifting operation on the soil prone to subsidence, the subsidence characteristics of the soil under pressure are studied, and it is found that the subsidence degree of the soil is linear with the pressure degree under the pressure of the hydraulic rod. On this basis, IMU(Inertial measurement unit) and RTK (Real time kinematic) are used to measure the tilt state of the tower in the leveling process, and on the basis of their inconsistent frequencies, Kalman filter is used for data fusion, and then fuzzy PID control algorithm is used to achieve the tower leveling control. In the experiment, the state estimation of the tower with IMU and RTK are compared under Kalman filter fusion and without fusion, and the fusion data is more robust. In addition, compared with the traditional PID control algorithm, the fuzzy PID control has more advantages in overshoot and steady-state recovery time.