海底监测平台的姿态检测技术

介绍了一种基于9-DOF(自由度)传感器组的海底监测平台姿态检测技术。该技术采用卡尔曼滤波算法和高斯—牛顿迭代法,通过融合三轴陀螺仪、三轴加速度计和三轴磁力计的数据进行姿态检测。海底监测平台的姿态四元数由下位机计算所得,并通过串口发送给上位机,将姿态四元数进行解算并显示整个海底监测平台的三维姿态。该系统在准静态情况下进行了测试,测试结果表明姿态误差<1%,低姿态漂移率＜2 °/h,并具有较高的动态性能。

AZIMUTH MEASUREMENT TECHNOLOGY FOR SEAFLOOR OBSERVATORY STATION

In this paper, a kind of azimuth measurement technology for seafloor observatory station is proposed based on 9-Dimension of Freedom(9-DoF) Attitude and Heading Reference System(AHRS). It uses Kalman filter to estimate orientation and Gauss-Newton iteration method to get measurement state, and then combines gyroscope, accelerometer and magnetometer data from MEMS sensors to make a detection. For Kalman filter, the system error, which is sensitive to changes in temperature, and the measurement error are both estimated. Finally, the system is tested under quasi-static conditions and compared with the orientation obtained with non-magnetic turntable. The results show an improved performance:the error is less than 1% and low angle bias of pitch and yaw direction is less than 2 degrees per hour.