一种水下航行体运动参数测量系统的设计

Movement Parameters Design of an Underwater Vehicle Testing System

针对航行体水下试验的要求,设计了一种水下航行体运动参数测量系统。从该系统的原理算法、硬件设计和软件设计等方面进行了详细的阐述。该系统以采用硅微传感器的姿态测量系统(以下简称MTi)作为惯性测量组合,导航计算机采集MTi中的加速度计、陀螺和磁力计的原始传感器数据,结合捷联惯导四元数算法更新姿态矩阵,对航行体的姿态、速度、位置进行实时解算并存储解算结果,试验结束后通过上位机对试验数据进行读取。该测量系统多次应用于航行体的水下试验,获得了航行体水下运动参数。经试验验证,该测量系统性能可靠,可以满足水下航行体的运动参数测量的需求。

The movement parameters of the underwater vehicle testing system based on Motion tracker instrument （MTi）were designed for the requirement of underwater experiment. The principle and arithmetic of the system, the hardware design and the software design were introduced . In the system , the MTi based on MEMS sensor technology was used as IMU. Navigation computer acquires the sensor data from acceler-ometers ,gyroscopes and magnetometers of MTi, and then calculates and stores the attitude, speed and position of the underwater vehicle by updating rotation matrix with the SINS quaternion arithmetic. In the end, the data was read and stored by the navigation computer. The movement parameters of underwater vehicle have been acquired in underwater vehicle experiment by the testing system for many times. The testing system is reliable and meet the need of the movement parameter testing of underwater vehicle.