摘要
针对海洋科学考察中连接设备的水下电缆无法观测的现状,该文提出了一种基于姿态定位算法的水下电缆监测系统。系统采用两片VTI SCA60单轴倾角传感器对电缆不同位置处的双轴倾角数据进行采集,并通过CAN总线传送到水下主控CPU,数据经打包后由同轴电缆或光电复合缆传送至甲板上位机,通过姿态定位算法在上位机中完成电缆姿态监测。实验证明该系统可准确地定位电缆姿态并能够对危险操作和异常状态及时做出预警,为设备水下投放提供保障。
Due to the current situation that underwater cable connected to the equipment is difficult to observe in marine research, this paper designs a posture monitoring system of the underwater cable which based on gesture positioning algorithm. This system collects the biaxial angle data from different places of underwater cable by two pieces of VTI SCA60, and transmits the data to underwater CPU. The CPU underwater will pack and cortvey these data to PC on deck through armored coaxial cable or photoelectric composite cable. PC on deck monitors the posture of cable through posture positioning algorithm. The system can accurately determine the cable posture under the laboratory environment and be able to make timely warning of dangerous operation and abnormal state, also provide protection for equipment launching.
基金
国家高技术研究发展计划(863计划)资助项目(AA09Z206)
关键词
水下电缆
姿态定位
控制器局域网络
海洋
underwater cable
posture monitoring
controller area network
marine
