冲击波测试仪姿态测量系统研究

Research on Attitude Measurement System of Shockwave Tester

为了准确评估楼宇、舱室、厂房或战舰等受限空间内爆炸冲击波的毁伤威力,消除由于测试仪的姿态改变造成的测试误差,设计了一种冲击波测试仪姿态测量系统及角度解算方法。通过MPU9250传感器采集因舱壁或墙壁的倒塌或形变引起测试仪姿态变化的原始数据,采用四元数法进行姿态变换,结合系数优化的卡尔曼滤波算法对姿态角进行融合,并进行验证。实验结果表明:基于卡尔曼滤波的数据融合算法可行,降低了解算误差,满足对测试装置姿态数据采集分析的需求,为后续研究冲击波在受限空间的传播规律提供了依据。

In order to accurately assess the damage of explosion shock waves in confined spaces such as buildings,cabins,workshops or warships,and to eliminate the test error caused by the change of attitude of the tester,a shock wave tester attitude measurement system and angle calculation method were designed.The MPU9250 sensor was used to collect the original data of the attitude change of the tester caused by the collapse or deformation of the bulkhead or wall.The quaternion method was used to transform the attitude,and the Kalman filter algorithm with coefficient optimization was used to fuse the attitude angle,and the experimental verification was carried out.Experimental results show that the data fusion algorithm based on Kalman filter is feasible,and it reduces the error of the calculation result,and meets the requirements of the data acquisition and analysis of the test device attitude,which provides a basis for the subsequent study of the propagation law of shock wave in the confined space.