基于MEMS的海洋漂流浮标运动姿态测量系统设计

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。

Measurement system of ocean drifting buoy motion attitude based on MEMS

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.