捷联惯导式测波技术研究

In this study, we focus on the application of strapdown inertial navigation system in wave observation and its implementation on STM32 embedded platform. So research efforts have been carried on in the aspects as follow: system hardware circuit design, Multi-source information data fusion technology based on Kalman filter and its implementation, attitude calculation and coordinate transformation, acceleration to displacement numerical integration strategy, statistics of wave characteristic in time domain. In this study, we cleverly comnined together of the gyroscope, accelerometer, magnetometer and the high performance embedded processor, and the strapdown inertial attitude calculation method based on the mathematical algorithm is used instead of the traditional electromechanical inertial stabilization paltform. In this way, it is not only improves the measurements accuracy of attitude and motion information, but also improves the measurement accuracy of wave eigenvalue. Meanwhile, the wave measurement based on strapdown inertial navigation system can eliminate the adverse effects caused by the tilt, sway and rotation of the platform, and improve the stability and reliability of the system. This research results will provide a theoretical basis and technical support for the research of the acceleration wave observation instrument, shorten the gap with the international advanced level, and improve the performance and standardization of the wave sensor.

本文以“捷联惯导式测波技术研究”为主要内容，选用STM32高性能嵌入式处理器为核心硬件平台，从系统硬件设计、多源传感器融合滤波及实现、姿态解算算法及实现、坐标矩阵转换及实现、加速度-位移数值积分算法及实现、时域波浪特征统计等几个方面展开研究。文中，将融合加速度计、陀螺仪、磁力仪的IMU单元和高性能嵌入式处理器合理结合在一起，采用数学平台的融合滤波及姿态解算方法代替惯性稳定平台完成载体坐标到自然地理坐标的转换，该方法可大大降低系统体积、成本，不仅提高姿态、运动信息的测量精度，而且提高波浪特征值的测量精度。同时，基于捷联惯导的测波技术可以消除载体平台随波浪发生倾斜、摇动、旋转带来的不利影响，提高系统在动态测量环境中的稳定性、可靠性。该研究成果为国内加速度波浪观测仪器研究提供一定理论基础和技术支持，缩短与国际先进波浪观测技术的差距，提高仪器性能和标准化程度。

在动态波浪环境中惯性波浪传感器姿态保持，以往多通过机械/电式等稳定结构实现。采用捷联姿态解算/补偿的方法实现“数字稳定平台”的功能可消除波浪传感器对机械/电稳定结构的依赖，实现独立捷联工作，是波浪传感器向小型化、低功耗、低成本方向发展的关键技术突破。项目开展一种基于MEMS惯性传感器的微型捷联惯性波浪传感器研制，重点突破捷联姿态补偿、频域数值积分、波浪谱前端计算等捷联惯性测波关键技术。在国际上首次实现“数字稳定平台”波浪传感器，可独立安装在小型波浪载体平台，并实现在动态环境中波浪的精准测量。基于项目成果的DWS19型波浪传感器已获取国家海洋标准计量中心的第三方检定报告，测量精度达到惯性波浪传感器优秀指标（精度：波高<3%,周期<±0.1秒）。DWS19波浪传感器体积小、功耗低、成本低，已完成多次海上观测，性能可靠，满足科研、工程、业务部门波浪观测需求。项目成果技术就绪度高，具有很好的军民市场应用前景。

内容获取失败，请点击重试