Design Of Wavy Buoy Based On Heave Data And Euler Angles Data Of INS

Wave buoy design is based on the technical indicators as the prerequisite to select the wave sensor which meets the requirements.And then select the appropriate wave measurement method based on the measurement principle of this senor.Considering the work environment and the use of requirements to complete the program design,and then according to the overall program to complete software and hardware and structural design.Finally,test the wavy buoy.The subject use an INS as wave sensor,and design wave buoy based on heave data and Euler angles data of this senor.The main works are as follows:1.According to the measuring principle of INS,aiming at the shortcoming of general up-cross zero-point method that use the average value of all the samples as the baseline can't change with the trend of the whole wave.Two improved methods based on general up-cross zero-point method are proposed.One is the up-cross zero-point method of variable baseline calculated by continuous samples of a fixed number.The other is the up-cross zero-point method with variable baseline gained from two curves fitted to the maximums and minimums respectively.According to the requirements to determine the buoy spherical structure type,system components and working principle.And complete the program design.2.According to the overall plan,with the STM32F429IGT6 microcontroller as the central processing unit,the hardware design of wave buoy central processing module,communication module,power management module,solar charging module and wireless charging module is completed.With the diameter of 500 mm as the reference size the wave buoy shell,inner supports,bumper and core chassis and other structural design is completed.And buoy buoyancy,stability and randomness with the wave are checked.3.According to the system function requirements,the structure of wave buoy data processing software is designed.According to the relationship between the software modules,the work flow and code implementation of each module are described.The code processing of data processing of three wave measurement methods is described in detail.4.Through the measure of simulation wave in laboratory,the feasibility of the two methods proposed in this paper is verified.The advantages and disadvantages of the three methods are compared by the measurement results.The effects of wave period,amplitude,multi-wave source and sampling period on the measurement accuracy are studied.According to the law between wave period and amplitude and measurement error,the measurement results are revised and the measurement accuracy is improved.