Research And Implementation Of The Visualization Of Underwater Robot Attitude Monitoring System Based On Labview

In the process of ocean development and utilization,It's the main tool for oceanexploration and development on underwater robot.At the bottom of the sea,the underwater robot will be disturbed by the complex sea conditions affecting its motion state.In order to ensure that the underwater vehicle works stably under different sea conditions,it is necessary to control the attitude of the underwater vehicle well.Therefore,it is necessary to study the attitude reliability and real-time performance of underwater vehicle.In this paper,an attitude monitoring system is designed according to the basic requirement of underwater vehicle.At the same time,virtual simulation technology is introduced to realize the three-dimensional visualization of underwater vehicle attitude.Firstly,the attitude calculation method of underwater vehicle is elaborated,and a Kalman complementary filtering algorithm is used to fuse the attitude angle of underwater vehicle through the modified Kalman filter algorithm.This algorithm uses three-axis gyroscope and three-axis accelerometer to collect attitude data.Firstly,Kalman filter is used to filter and integrate the attitude data to get the first attitude angle.Then,the attitude angle obtained by integrating the first attitude angle,gyroscope and accelerometer is fused to get the final output attitude angle.The aforementioned fusion proportion is allocated according to the variance of attitude angle calculated by different methods.The allocation principle is that the larger the variance,the smaller the fusion proportion.Secondly,based on the structure of the electronic warehouse of the underwater vehicle,the overall scheme of the lower computer of the attitude detection system of the underwater vehicle is determined,and the modular lower computer of the attitude monitoring system is designed according to the structure of the system.The design of the lower computer mainly includes hardware design and software design.The hardware design of the lower computer is mainly based on the working principle of the minimum system circuit,the inertial attitude measurement module and the propeller driving module of the hardware circuit.The principle analysis and design of the circuit also complete the selection of components.In the software design of the lower computer,it mainly completes the initialization of the main control chip program,the attitude measurement program design based on MPU6050 the attitude sensor,the serial communication and the PWM driver design.Finally,the data transmission,processing and receiving of the main control chip are completed,and the communication links between the hardware modules of the lower computer are established.Finally,the visual interface of attitude monitoring system for underwater vehicle is established based on Labview.The interface design mainly includes the real-time communication design between the upper computer and the lower computer,the three-dimensional visual reproduction design of attitude,attitude control design and fault alarm design.The interface realizes data visualization,three-dimensional model visualization and information interaction between human and computer,and also makes the underwater vehicle attitude visualization system a complete whole.At the last of the paper,the visual attitude monitoring system is tested and verified by experiments,which proves that the system can fulfill the basic requirements of attitude monitoring and visualization of underwater vehicles.