水下滑翔机的多参数测量采集系统研究

发布时间：2019-04-29 12:39

【摘要】：海洋环境探测技术的载体一般可分为船载观测平台、固定观测平台与水下航行器三种形式。其中使用水下航行器的探测形式一般具有观测范围大、部署灵活方便、运行成本低等优点，成为未来海洋环境探测的主流方向。而相比较于HOV（载人潜水器）、ROV（遥控水下机器人）、AUV（自治水下机器人）等传统水下航行器而言，水下滑翔机由于其更长的续航时间，更多样的数据采集能力，更灵活的姿态控制以及更低的研制成本，在近年来逐渐成为海洋研究领域的一种重要技术手段之一。水下滑翔机内部的一般设计框架是由浮力调节系统、重心调节系统、导航系统、通信系统以及多参数测量采集系统构成，其中多参数测量采集系统是协调各系统的核心单元。本文针对这一思路，研究设计了一种高可靠性、低功耗、多通道数据采集的水下滑翔机多参数测量采集系统，具备多通道传感器数据采集，，为导航系统提供惯性姿态测量数据，并为滑翔机自带电池进行智能供电管理的多种功能。其中多通道数据采集模块在硬件上包括串口扩展电路、中心微控制器及数据存储电路，执行的嵌入式软件对系统搭载的传感器进行通讯控制、数据采集与数据存储，保证了水下滑翔机的多参数数据采集与存储能力；惯性测量模块（IMU）基于全自主惯性导航技术，硬件由陀螺仪、加速度计、磁力计以及高计算性能、低功耗的微处理器组成，并在其上运行低计算负荷的姿态更新解算算法，为水下滑翔机提供准确、实时的姿态信息；电源管理模块包括电压检测电路、电源开关控制电路及微处理器，负责对系统电源进行管理，并对系统本身以及各传感器进行供电控制。本文还对水下滑翔机可能搭载的各种传感器进行了配置，可能搭载的高能电池进行了组合。同时，还设计了相应的上位机软件实现远程通讯与控制。上位机软件使用C#语言编写，可在系统运行前对系统及各个传感器进行参数配置与设置，并在系统工作结束后对所采集的数据进行提取。本文的第2章至第7章对系统从系统架构设计、软硬件实现到系统测试，进行了完整的叙述。第2章对课题的整体设计架构做了详细描述，并特别分析了本课题内容与水下滑翔机其他子系统的协作关系。第3章对惯性导航原理进行了介绍，研究了姿态解算算法并对模块的软硬件进行了选型与设计。第4章对多通道数据采集模块进行了设计，解析了各传感器协议，进行了FATFS文件系统在MicroSD卡上的移植并设计硬件电路与嵌入式软件。第5章分析了电源管理模块的任务，对系统使用的电池组进行选型，设计了电压检测、MOS管开关等硬件电路与模块嵌入式软件。第6章对上位机软件需要的功能进行了分析并完成了具体设计。第7章对系统的各个模块软硬件进行了测试，并评估了惯性测量模块中误差校正算法的效果。论文的最后部分，总结了已经完成的工作及目前所存在的不足，对课题有待完善的部分作了分析与展望。
[Abstract]:The carrier of the marine environment detection technology can be divided into three forms: the ship-borne observation platform, the fixed observation platform and the underwater vehicle. The detection form of the underwater vehicle generally has the advantages of large observation range, flexible and convenient deployment, low operation cost and the like, and becomes the main flow direction of the future marine environment detection. Compared with traditional underwater vehicles such as HOV (manned submersible), ROV (remote control underwater robot) and AUV (autonomous underwater robot), the underwater glider has more data acquisition capability due to its longer endurance time, The more flexible attitude control and lower development cost has gradually become one of the important technical means in the field of marine research in recent years. The general design frame inside the underwater glider is composed of a buoyancy regulation system, a center of gravity regulation system, a navigation system, a communication system and a multi-parameter measurement and acquisition system, wherein the multi-parameter measurement and acquisition system is the core single of the coordination system In this paper, a multi-parameter measurement and acquisition system of the underwater glider with high reliability, low power consumption and multi-channel data acquisition is designed, and the multi-channel sensor data acquisition is provided to provide the inertial attitude measurement for the navigation system. It is believed to be a variety of work for smart power management for the glider's own battery the multi-channel data acquisition module comprises a serial port expansion circuit, a central microcontroller and a data storage circuit on the hardware, The invention discloses a multi-parameter data acquisition and storage capability of an underwater glider, wherein the inertial measurement module (IMU) is based on a full-automatic inertial navigation technology, and the hardware is composed of a gyroscope, an accelerometer, a magnetometer and a high-performance and low-power-consumption microprocessor group, and the power management module comprises a voltage detection circuit, a power switch control circuit and a microprocessor, The system itself and each sensor shall be provided with power supply control. In this paper, various kinds of sensors that can be carried by the underwater glider are also configured, and the high-energy battery can be mounted. At the same time, the corresponding computer software is designed to realize the remote communication and control. The upper computer software shall be written in C # language, and the system and each sensor shall be configured and set before the system is in operation, and the acquired data shall be extracted after the system operation is finished. Take. Chapter 2 to Chapter 7 of this paper designs the system from the system architecture, the hardware and software is implemented to the system test, and the whole system is complete. Chapter 2 gives a detailed description of the overall design framework of the subject, and analyses the contents of the subject and the association of other subsystems of the underwater glider. In chapter 3, the principle of inertial navigation is introduced, the algorithm of attitude calculation is studied, and the software and hardware of the module are selected. In chapter 4, the multi-channel data acquisition module is designed, the protocol of each sensor is analyzed, the transfer of the FATFS file system on the MicroSD card is carried out, and the hardware circuit and the embedding are designed The function of the power management module is analyzed in Chapter 5. The battery pack used in the system is selected, and hardware circuits such as voltage detection and MOS tube switch are designed to be embedded in the module The function of the software of the upper computer is analyzed and the tool is completed in Chapter 6. Volume design. Chapter 7 tests the software and hardware of each module of the system, and evaluates the error correction algorithm in the inertial measurement module The last part of the paper sums up the work that has been completed and the existing problems, and the part of the subject is to be improved.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U674.941;U665.26

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