某产品姿态测量及参数解算研究

发布时间：2018-07-20 12:26

【摘要】：水下产品作为开发海洋资源的重要工具,对产品在水下的运动姿态和轨迹的准确测量对海洋探测工作意义重大。因此研究产品的姿态和运动轨迹的解算算法是还原产品运动情况的关键环节。针对某产品的水下测试的需要,本论文提出了运用MTi惯性测量传感器和压力传感器分别测量产品的三轴加速度、角速度、磁场强度和入水深度等参数,事后用四元数法与卡尔曼滤波融合算法实现产品姿态和运动轨迹的测量的新方案。论文主要从以下几个角度来论述。(1)产品姿态算法的研究,基于产品姿态的参照坐标系和姿态定义,提出了姿态算法的整体架构:初始姿态对准,用陀螺数据更新姿态信息,离散卡尔曼滤波算法融合系统测量参数估计出产品最优姿态角。分析并仿真了不同的陀螺数据更新算法,并与标准姿态对比,最终结合工程实用性选择了四元数龙格库塔算法。针对单一使用四元数法进行姿态解算的误差较大的情况,提出了离散卡尔曼滤波数据融合算法模型,仿真结果表明经过融合算法处理后,姿态角的解算精度显著提高。(2)产品运动轨迹算法的研究,基于产品相对坐标系的运动关系,推导了地理坐标系下的产品加速度基本矩阵方程,并用姿态矩阵转换并融合产品初始位置信息得出相应的加速度计算公式,进一步通过迭代法并融合深度信息来推导得出产品轨迹的两种解算模型,通过仿真实验分析,得到了产品运动的轨迹曲线。仿真结果表明了模型的解算结果与真实曲线相比保持了较好的一致性。(3)通过对水下平台布放实验进行分析,实验结果验证了姿态和轨迹解算算法的正确性。
[Abstract]:As an important tool for the development of marine resources, it is of great significance to accurately measure the motion attitude and trajectory of underwater products for ocean exploration. Therefore, it is the key to study the attitude and trajectory of the product to calculate the motion of the product. In order to meet the need of underwater measurement of a product, this paper proposes to use MTI inertial measurement sensor and pressure sensor to measure the parameters of triaxial acceleration, angular velocity, magnetic field intensity and water depth respectively. A new scheme for measuring product attitude and motion trajectory is realized by using quaternion method and Kalman filter fusion algorithm. This paper mainly discusses the following aspects: (1) the research of product attitude algorithm. Based on the reference coordinate system and attitude definition of product attitude, the whole structure of attitude algorithm is put forward: initial attitude alignment, updating attitude information with gyro data, Discrete Kalman filter (DKF) fusion system parameters estimate the optimal attitude angle of the product. Different gyro data updating algorithms are analyzed and simulated, and compared with the standard attitude. Finally, the quaternion Runge-Kutta algorithm is selected in combination with engineering practicability. A discrete Kalman filter data fusion algorithm model is proposed for the large error of the attitude solution using the quaternion method. The simulation results show that the algorithm is processed by the fusion algorithm. The precision of attitude angle calculation is improved significantly. (2) the basic matrix equation of product acceleration in geographical coordinate system is derived based on the motion relation of product relative coordinate system. The corresponding acceleration calculation formula is obtained by using attitude matrix transformation and fusion of the initial position information of the product. Furthermore, through iterative method and fusion of depth information, two kinds of computing models of product trajectory are derived, and the simulation experiments are carried out. The trajectory curve of the product motion is obtained. The simulation results show that the solution of the model is consistent with the real curve. (3) through the analysis of the underwater platform placement experiment, the experimental results verify the correctness of the attitude and trajectory algorithm.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P715.5

【相似文献】