750kV变电站设备支架姿态测量系统设计

Design of 750kV Substation Equipment Support Attitude Measurement System

为了消除750 kV变电站设备支架安装过程中的位置误差,在研究现有设备支架位置检测方法的基础上,设计了以STM32单片机为控制核心的设备支架姿态测量系统。该系统以三轴陀螺仪传感器测量设备支架的角速度数据,使用双加速度计以不同频率采样传感器数据以消除累积误差,增加测量系统的鲁棒性,利用四元数法解算出设备支架在三轴坐标系的姿态角,将陀螺仪和加速度计的数据进行融合,设计自适应姿态融合校准算法提高系统长期精度,实现对750 kV变电站设备支架姿态的准确测量,确保其安装过程中的位置精度。

In order to eliminate 750 kV substation equipment support in the process of installation position error,in this paper,based on the study on the position detection method of the existing equipment support,the attitude measurement system of the equipment support with STM32 MCU as the control core is designed.The angular velocity data of the equipment support is measured by the three-axis gyroscope sensor.Dual accelerometers are used to sample the sensor data at different frequencies to eliminate the cumulative error and increase the robustness of the measurement system.Quaternion method is used to calculate the attitude angle of equipment support in three-axis coordinate system.The gyroscope and accelerometer data are fused.An adaptive attitude fusion calibration algorithm to improve the long-term accuracy of the system is designed to achieve accurate measurement of the attitude of the 750 kV substation equipment support,and to ensure the position accuracy during the installation process.