基于MEMS的海洋漂流浮标运动姿态测量系统设计
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摘要
针对海洋漂流浮标运行时运动轨迹姿态多变影响传感器观测要素可靠性的特点,设计了基于三轴MEMS陀螺仪、加速度计、磁阻传感器的漂流浮标姿态测量系统。介绍了系统硬件组成结构及软件算法流程,采用四元数方法和PI调节算法进行姿态解算以及数据融合,并采用椭球拟合和阀值滤波方法修正补偿系统误差。实验测试表明,系统姿态测量效果良好,静态误差小、动态抗干扰性能较好,满足海洋漂流浮标姿态测量基本需求。
According to the characteristics of the variable motion trajectory and postures during the floating buoy operation that affect the reliability of the sensor, the floating buoy attitude measurement system based on three-axis MEMS gyroscope, accelerometer and magnetoresistive sensor is designed. This paper presents the hardware structure and software algorithm flow of the design system. It use, quaternary method and PI regulation algorithm to perform attitude algorithm and data fusion. The systematic error is corrected by ellipsoid fitting and threshold filtering for error compensation method. Experimental results show that the proposed design is more effective in the measurement of motion attitude which has small static error and good dynamic anti-interference performance to meet the basic needs of attitude measurement of ocean drift buoys.
According to the characteristics of the variable motion trajectory and postures during the floating buoy operation that affect the reliability of the sensor, the floating buoy attitude measurement system based on three-axis MEMS gyroscope, accelerometer and magnetoresistive sensor is designed. This paper presents the hardware structure and software algorithm flow of the design system. It use, quaternary method and PI regulation algorithm to perform attitude algorithm and data fusion. The systematic error is corrected by ellipsoid fitting and threshold filtering for error compensation method. Experimental results show that the proposed design is more effective in the measurement of motion attitude which has small static error and good dynamic anti-interference performance to meet the basic needs of attitude measurement of ocean drift buoys.
引文
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[14] 傅建国,王孝通,金良安,等.一种基于地球重力场和磁场的姿态估计新算法[J].电子学报,2005,33(3):567-570.
[15] 朱文杰,王广龙,高凤岐,等.基于MIMU和磁强计的在线实时定姿方法[J].传感技术学报,2013,26(4):536-540.
[2] 陈忠梅,龚德俊,李思忍,等.一种新型海洋环境监测系统的静力分析和姿态计算[J].海洋科学,2009,33(2):50-54.
[3] 郑威,张殿伦,孙大军.姿态传感器在坐底式ADCP波阵列中的应用[J].传感器与微系统,2011,30(6):119-122,125.
[4] 蔡春龙,刘翼,刘一薇.MEMS仪表惯性技术组合导航系统发展现状与趋势[J].中国惯性技术学报,2009,17(5):562-567.
[5] 刘娜娜.基于MEMS的小型姿态检测系统设计[J].中国科技信息,2013(10):174-175.
[6] 刘国海,李沁雪,施维,等.动态卡尔曼滤波在导航实验状态估计中的应用[J].仪器仪表学报,2009,30(2):396-400.
[7] 李磊,鲍其莲.基于MARG的两种实时姿态测量算法的分析与比较[J].电子测量技术,2009,32(2):79-82.
[8] 夏琳琳,赵琳,刘繁明,等.基于对偶四元数的航姿系统姿态更新算法[J].系统仿真学报,2008,20(2):276-280.
[9] SEBASTIAN M,ANDREW H,Ravi V.Estimation of IMU and MARG orientation using a gradient descent algorithm[C].IEEE International Conference on Rehabilitation Robotics,2011,1:1-7.
[10] 张荣辉,贾宏光,陈涛,等.基于四元数法的捷联式惯性导航系统的姿态解算[J].光学精密工程,2008,16(10):1963-1970.
[11] 朱建良,王兴全,吴盘龙,等.基于椭球曲面拟合的三维磁罗盘误差补偿算法[J].中国惯性技术学报,2012,20(5):562-566.
[12] 吴建军,钱峰.多信息融合的定向测姿方法的研究[J].电子测量技术,2012,35(2):41-45,68.
[13] 薛亮,李天志,李晓莹,等.基于MEMS传感器的微型姿态确定系统研究[J].传感技术学报,2008,21(3):457-460.
[14] 傅建国,王孝通,金良安,等.一种基于地球重力场和磁场的姿态估计新算法[J].电子学报,2005,33(3):567-570.
[15] 朱文杰,王广龙,高凤岐,等.基于MIMU和磁强计的在线实时定姿方法[J].传感技术学报,2013,26(4):536-540.