某产品水下运动姿态测量系统设计

发布时间：2018-04-08 16:55

本文选题：MTI　切入点：姿态测量　出处：《中北大学》2014年硕士论文

【摘要】：载体姿态的测量，可为导航或控制系统提供有效的信息。随着MEMS技术的日益成熟，由微惯性传感器组成的姿态测量系统逐渐受到人们的青睐。该型测量系统集成度高，体积小，功耗低，具有广阔的应用前景。本文在综合了现有的技术条件基础上，针对某产品水下运动的特点，制定了相应的测量方案。本文设计的姿态测量系统主要由MTI、大量程三轴加速度计和压力传感器组成。MTI是由三轴加速度计、三轴陀螺仪和三轴磁强计组成的，它全程测量了产品的运动姿态。大量程三轴加速度计主要是测产品入水及其分离时刻的加速度值，这是因为MTI内置加速度计量程达不到此刻的测量要求。冲击加速度加上MTI输出的角速度和磁强信息经过解算就能得到产品入水和分离时的姿态角。压力传感器主要是用来测量水深的，这样就能知道产品在任意深度的姿态角。硬件设计方面主要包括了MTI的数据存储模块和加速度、压力的采集存储传输模块。MTI输出的数字量通过RS232总线直接写进由单片机控制的SD卡中；加速度计和压力传感器输出的模拟量需通过AD7606转换，然后存储在Flash芯片K9WBG08U1M中，最后经过USB芯片CY7C68013A传至上位机。其中A/D转换、Flash存储和USB传输模块都是由FPGA芯片EP2C8Q208C8N控制的。软件设计方面则是针对硬件模块进行相关的程序编写、逻辑设计。最后，，整个系统在地面进行实验测试，实验结果表明该测量系统能够完成对载体姿态角的测量存储等功能。
[Abstract]:Carrier attitude measurement can provide effective information for navigation or control system.With the maturity of MEMS technology, the attitude measurement system composed of micro inertial sensors has gradually been favored by people.This type of measurement system has high integration, small volume and low power consumption, and has a broad application prospect.Based on the existing technical conditions and the characteristics of underwater motion of a certain product, a corresponding measurement scheme is developed in this paper.The attitude measurement system designed in this paper is mainly composed of MTI, a large number of range triaxial accelerometers and pressure sensors. MTI is composed of three axis accelerometers, three axis gyroscopes and three axis magnetometers.A large range of triaxial accelerometers are mainly used to measure the acceleration of the product at the time of water entry and separation, which is due to the fact that the range of MTI built-in accelerometers does not meet the current measurement requirements.After calculating the angular velocity and magnetic intensity information of the MTI, the attitude angle of the product can be obtained when the product enters water and separates.The pressure sensor is mainly used to measure the depth of water, so that you can know the attitude angle of the product at any depth.The hardware design mainly includes the data storage module and acceleration of MTI. The digital output of the pressure acquisition storage and transmission module is written directly into the SD card controlled by single chip through RS232 bus.The analog output of accelerometer and pressure sensor needs to be converted by AD7606, then stored in Flash chip K9WBG08U1M, and finally transmitted to the host computer via USB chip CY7C68013A.The A / D converter flash storage and USB transmission module are controlled by FPGA chip EP2C8Q208C8N.Software design is related to the hardware module programming, logic design.Finally, the whole system is tested on the ground. The experimental results show that the system can realize the function of measuring and storing the attitude angle of the carrier.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7;TP274

【引证文献】