基于MEMS姿态传感器的声矢量传感器设计

Design of acoustic vector sensor based on MEMS attitude sensor

针对声矢量传感器姿态变化难以准确测量导致目标测向精度低的现状,设计一种微型MEMS姿态传感器,并将其封装在声矢量传感器内部,实现基于MEMS姿态传感器的声矢量传感器设计。首先根据声矢量传感器姿态测量与校正原理,采用四元数姿态解算方法及扩展卡尔曼滤波器设计MEMS姿态传感器,并对其进行姿态精度测试;然后基于MEMS姿态传感器进行声矢量传感器样机设计、制作、参数测试;最后对样机进行了海上实验,结果表明,通过姿态校正后声矢量传感器目标方位估计精度与GPS推算方位精度一致,验证了利用MEMS姿态传感器设计声矢量传感器的可行性。

In view that the attitude change of acoustic vector sensor is difficult to accurately measure, resulting in low accuracy of target direction finding, a miniature MEMS attitude sensor is designed and encapsulated inside the acoustic vector sensors to achieve the acoustic vector sensor design based on MEMS attitude sensor. At first, based on the principle of acoustic vector sensor attitude measurement and correction, an MEMS attitude sensor is designed by using quaternion attitude algorithm extended Kalman filter, and then its attitude accuracy test is made. After that, the acoustic vector sensor prototype is designed and produced based on the MEMS attitude sensor, and its parameter testing is made. Finally, the prototype is tested at sea. Test results show that, after the attitude correcting, the DOA estimation accuracy of the acoustic vector sensor is in agreement with the GPS accuracy of the estimated heading, verifying the feasibility of the attitude acoustic vector sensor designed by the MEMS sensor.