用于水下ROV控制的姿态融合技术研究

Research on Attitude Fusion Technique for Underwater ROV Control

出于对海洋探索的目的,本文研究设计了一个低功耗、体积小、准确度高的实时性好的水下ROV空间姿态控制系统。系统硬件部分主要由陀螺仪、加速度计以及能耗比较高的ARM-M3内核处理器及相关的外围功能电路组成。硬件部分负责从传感器获取三轴的姿态数据并通过姿态融合算法得出空间角,并通过相关接口上传至上位机观察处理,根据测试结果证明本文设计的基于惯性传感器的姿态检测系统能够用于对水下ROV的姿态控制。

For the purpose of exploring the seas, a low-power, small size and high accuracy real-time underwater ROV space attitude control system is designed. System hardware is mainly composed of three-axis gyroscope, three-axis accelerometer and low-power ARM-M3 core processor and related peripheral functional circuit. The hardware part is responsible for obtaining the three-axis attitude data from the sensor and obtaining the spatial angle through the attitude fusion algorithm, and uploading to the upper computer for observation and processing through the relevant interfaces. Test results show that the inertial sensor-based attitude detection system can be used Attitude control of underwater ROV.