基于四元数的机械海流计姿态解算  

Quaternion-based attitude calculation of mechanical current meter

作　　者：刘庆鹏 于雨 惠力 鲁成杰 Liu Qingpeng;Yu Yu;Hui Li;Lu Chengjie(Qilu University of Technology,Shandong Academy of Sciences,Jinan 250353;Institute of Oceanographic Instrumentation,Qilu University of Technology,Shandong Academy of Sciences,Qingdao 266100)

机构地区：[1]齐鲁工业大学(山东省科学院),济南250353 [2]齐鲁工业大学(山东省科学院),山东省科学院海洋仪器仪表研究所,青岛266100

出　　处：《气象水文海洋仪器》2021年第1期15-19,共5页Meteorological,Hydrological and Marine Instruments

基　　金：国家自然科学基金(41706101)资助.

摘　　要：流向是海流测量中不可或缺的信息之一,可以通过解算海流仪姿态角的方式获得流向。目前,采用欧拉角微分方程式和方向余弦法计算姿态都存在着奇点或者计算量过大的问题。文章利用四元数的方法求解姿态变换矩阵,采用四元数四则运算组合简化计算过程,并基于6轴处理组件MPU6050和磁阻传感器HMC5883L设计电路和编程,最后在实验的基础上对算法可行性进行了验证。The flow direction is one of the indispensable information in the current measurement.The flow direction can be obtained by solving the attitude angle of the current meter.At present,using Euler's angular differential equation and direction cosine method to calculate attitude has the problem of singularities or too much computation.This paper uses the quaternion method to solve the attitude transformation matrix,and adopts four operations of quaternion to simplify the calculation process.The circuit and programming are designed based on the 6-axis processing component MPU6050 and magnetic resistance sensor HMC5883L.Finally,the feasibility of the algorithm is verified based on the experiment.

关 键 词：四元数 流向 姿态解算 HMC5883L MPU6050 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]