Attitude Measurement Of The Product And Research On Parameters Resolving

As an important tool to develop the ocean resources,underwater carrier plays an vital role Accurate measuring in the attitude and movement trajectories of carrier plays an vital role in Ocean exploration.Therefore, the study on attitude and trajectory algorithm of the product is the key to restore the movement of it.For the need of underwater testing, This paper presents a new measurement method,that is, using MTi inertial measurement sensors and pressure sensors to measure three-axis acceleration, angular velocity parameters, magnetic field strength and depth of the product under the water.And then use quaternion method and Kalman filtering fusion algorithm to get the attitude and trajectory. And this paper mainly focuses on following issues:(1)Making research on attitude algorithm of the product. According to the reference coordinate the product based and definition of attitude, put forward to the overall architecture of attitude algorithm including initial attitude alignment, updating the attitude data by using Gyro data and using discrete Kalman filter fusion merging measurement parameters to estimate the real attitude angle. Analysis and simulate different update algorithms.After comparing with the standard attitude, choose the quaternion Runge-Kutta algorithm as the main algorithm. Based on the error of this algorithm,Make a discrete Kalman filter data fusion algorithm model. The simulation results show that fusion algorithm improves the precision of attitude angle significantly.(2)Making research on trajectory algorithm of the product. Based on the relative movement between product and coordinate system, calculate the basic acceleration equation in geographic coordinate system. According to the attitude matrix and initial position,get two calculation models for trajectory solvering of the products. Then Simulats and analysis by making a experiment,finally obtain the calculated curve. Simulation results show that the calculated curve compares to the real curve.(3)By laying the underwater platform experiment to analyze experimental results,it demonstrates that the solver algorithm is correct.