九轴MEMS微型AHRS设计及其在矢量水听器中的应用  

Design of nine-axis MEMS miniature AHRS and its application in vector hydrophones

作　　者：王文龙[1,2] 田德艳 崔宝龙 袁猛[1] 姜兆祯 WANG Wenlong;TIAN Deyan;CUI Baolong;YUAN Meng;JIANG Zhaozhen(Naval Submarine Academy,Qingdao 266199,China;Laoshan Laboratory,Qingdao 266235,China)

机构地区：[1]海军潜艇学院,青岛266199 [2]崂山实验室,青岛266235

出　　处：《中国惯性技术学报》2024年第5期468-474,共7页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划(2022YFC3103404)。

摘　　要：为了精确测量矢量水听器的姿态,设计了一种体积为20 mm×20 mm×5 mm、重量为1.8 g的微型航姿参考系统(AHRS)。利用微机电系统(MEMS)陀螺仪测定角速度,用四元数等效旋转矢量算法求解姿态角;采用扩展卡尔曼滤波器对姿态角估计值进行修正,并估计出MEMS陀螺仪的角速度漂移量。测试结果表明,所提AHRS的俯仰、横滚和航向角误差均方根值分别为0.04°、0.04°和0.34°。最后,将AHRS集成到矢量水听器中,并在加窗直方图统计波达方向估计算法中加入姿态修正。海上实验结果表明,对于航速为8 kn的目标船,经AHRS修正后的单矢量水听器方位角误差均方根值约为3.8°,减小了平台运动导致的方位测量误差。In order to accurately measure the attitude and heading of the vector hydrophone,a miniature attitude and heading reference system(AHRS)with a size of 20 mm×20 mm×5 mm and a weight of 1.8 g is designed.The angular velocity is obtained by micro electromechanical system(MEMS)gyroscope,and the quaternion equivalent rotation vector algorithm is used to calculate the attitude angles.The extended Kalman filter is designed to correct the estimated attitude angles,also to estimate the angular velocity drifts of the MEMS gyroscope.Tests show that the root mean square of pitch,roll and heading angle errors of the proposed AHRS are 0.04°,0.04°and 0.34°,respectively.Finally,the AHRS is embedded in the vector hydrophone,and the attitude correction is added to the direction-of-arrival estimation algorithm of the windowed histogram statistics.Sea test results indicate that the root mean square of the azimuth error of the single vector hydrophone corrected by AHRS is about 3.8°for the target ship with a speed of 8 kn,which reduces the azimuth measurement error caused by the platform movement.

关 键 词：航姿参考系统 扩展卡尔曼滤波器 矢量水听器 波达方向估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]