高精度海洋观测浮标运动测量系统设计与试验

Design and experiment of a high precision ocean observation buoy motion measurement system

海洋浮标受海洋动力环境影响产生运动,会对平台及仪器的可靠性产生影响,甚至会导致测量误差,影响海洋观测浮标工作安全性和数据质量,因而浮标运动姿态的精确测量研究具有重要价值和意义。本文通过搭建微型惯性测量单元(MIMU)与全球导航卫星系统(GNSS)结合的硬件系统,获取浮标运动姿态相关数据,并采用载波相位平滑滤波模型进行数据预处理,融合最小二乘降相关算法(LAMBDA)解算浮标姿态数据,获取高精度动态浮标姿态。经过摇摆台模拟比对实验,系统姿态角均方根误差小于0.5°,水平速度均方根误差小于0.05 m/s。通过实际海试实验,尤其是台风过境期间系统的测试结果,证明该系统工作稳定可靠,无数据发散现象,整体有效数据达到了95%以上。

Ocean buoys generate six degrees of freedom motion due to the influence of marine dynamic environment,which can affect the reliable operation of observation platform and instruments,and even lead to measurement results errors,affecting the safety and data quality of ocean buoys.Therefore,the accurate measurement of buoy motion is of great practical significance.This article establishes a hardware system by integrating a micro inertial measurement unit with a global navigation satellite system to obtain buoy motion-related data.A carrier phase smoothing filter model is used for data preprocessing,and a least squares redundancy algorithm is fused to calculate the buoy attitude data,obtaining high-precision dynamic buoy attitude.After comparing the results of a swaying platform simulation of motion,the root mean square error of attitude angle is less than 0.5°,and the root mean square error of horizontal velocity is less than 0.05 m/s.Additionally,through practical sea trials experiments,especially during the passage of a typhoon,the test results show that the system works stably and reliably without divergence phenomenon,with over 95%overall valid data.