CN104515522A - Underwater magnetic field and six-axis inertia combined positioning system - Google Patents
Underwater magnetic field and six-axis inertia combined positioning system Download PDFInfo
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- CN104515522A CN104515522A CN201310451007.0A CN201310451007A CN104515522A CN 104515522 A CN104515522 A CN 104515522A CN 201310451007 A CN201310451007 A CN 201310451007A CN 104515522 A CN104515522 A CN 104515522A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention relates to an underwater magnetic field and six-axis inertia combined positioning system. The system includes the following parts: (1) and (2) are respectively a sensing chip MPU6050 composed of a three-axis acceleration sensor and a triaxial gyroscope, (3) is a triaxial magnetometer RMG144, the two sensing chips send sensed each axis acceleration, acceleration and magnetic field intensity to a host processor (4) through an I2C bus, the host processor (4) finishes preliminary calculation of attitude and determines an absolute underwater space coordinate system, then attitude calculus and action signal discrimination are completed, the absolute position of the current underwater space and the button, function and the like needing control are output to a wireless transmission module (6), a power module (5) is responsible for power supply of the whole system, a receiving module (7) is responsible for receiving and decoding previous data and converts the data into a computer identifiable signal, and a computer (8) subjects the received data to processing and modeling, thus finishing the task of establishing an underwater space trajectory description system.
Description
Technical field
The present invention the present invention relates to a kind of underwater positioning system, specifically relates to a kind of magnetic field and six axle inertia co-located systems.
Background technology
Underwater Navigation problem is perplex a difficult problem for various underwater operation always.In military domain by means such as terrain match, of a high price; At civil area, due to the restriction of cost, independent use strap down inertial navigation and gyroscope guide, and there is precision not high, and the shortcoming such as to drift about large, can only as the coarse localization of short time.A kind of magnetic field of the present invention and six axle inertia co-located systems, according to the variation characteristic of magnetic field, can be real-time disturbed modify is carried out to the system that strap down inertial navigation and gyroscope guides, ensure that the stable and accurate of system.Adopt the up-to-date integrated components and parts of MEMS, greatly reduce power consumption and system cost.Can effective filtering interfering by high-precision adaptive algorithm, complete the confirmation of hydrospace transfer point position, without the absolute fix in the auxiliary positioning means situations such as GPS under held water.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of magnetic field and six axle inertia co-located systems, real-time space orientation can be processed efficiently, according to the underwater different gestures of object.Can effective filtering interfering by high-precision adaptive algorithm, complete the confirmation of hydrospace transfer point position, without the absolute fix in the auxiliary positioning means situations such as GPS under held water.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The technical problem to be solved in the present invention is to provide a kind of underwater positioning system, by magnetic field, gyroscope and acceleration transducer, real-time Underwater Navigation can be processed efficiently, according to the variation characteristic of magnetic field, can be real-time disturbed modify is carried out to the system that strap down inertial navigation and gyroscope guide, ensure that the stable of system and accurately.For solving the problems of the technologies described above, the present invention includes following several part: 1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, these two sensing chips are by I2C bus, the acceleration of each axle sensed, acceleration and magnetic field intensity are sent to primary processor 4, the first portion completing attitude by 4 calculates, and determines absolute hydrospace coordinate system.Complete the calculation of attitude and the differentiation of actuating signal afterwards, export the absolute position of current hydrospace and need button, the function controlled to wait until wireless transmitter module 6.Power module 5 is responsible for the power supply of whole system.Receiver module 7 be responsible for receiving the decode before data, convert thereof into the signal that computing machine can identify, the data that computing machine 8 will receive, carry out processing and modeling, complete setting up and describing hydrospace Trajectory System of task.
Compared with prior art, the invention has the beneficial effects as follows:
A kind of magnetic field of the present invention and six axle inertia co-located systems, according to the variation characteristic of magnetic field, can be real-time disturbed modify is carried out to the system that strap down inertial navigation and gyroscope guides, ensure that the stable and accurate of system.Adopt the up-to-date integrated components and parts of MEMS, greatly reduce power consumption and system cost.Can effective filtering interfering by high-precision adaptive algorithm, complete the confirmation of hydrospace transfer point position, without the absolute fix in the auxiliary positioning means situations such as GPS under held water.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of magnetic field of the present invention and six axle inertia co-located systems
Fig. 2 is the schematic flow sheet of a kind of magnetic field of the present invention and six axle inertia co-located systems
Fig. 3 is the principle schematic of a kind of magnetic field of the present invention and six axle inertia co-located system determination submarine sites.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
As shown in Figure 1,1 and 2 is the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, 3 is three-axle magnetic field meter RM G144, the acceleration of each axle sensed, acceleration and magnetic field intensity, by I2C bus, are sent to primary processor 4 by these two sensing chips.
As shown in Figure 2, be the step that computer system 8 carries out required for hydrospace calculating.First absolute hydrospace coordinate system is determined.First, after start 8 when determining that angular velocity is 0 under original state, the accekeration of each axle, determines that the acceleration of these three axles is made a concerted effort value and direction thereof.Determine the field strength values of three axles now, calculate their size direction, conjunction magnetic field.
As shown in Figure 3, in water, take gravity direction as the negative direction of Z axis, buoyancy direction is Z axis positive dirction; Be Y-axis positive dirction with magnetic force direction, get and just give unique direction of this both direction to be X-axis, and with the positive dirction of right hand theorem determination X-axis.Now just can break away from the position residing for chip, the real-time position residing for determination hydrospace, depict under water in space, positioning chip the position of moving.
After completing initialization, these sensors are passed the data of coming and carry out digital filtering by central processing unit 4, enable signal effectively anti-interference.
Then these data are carried out package, added the operations such as correction code.To allow the error code mistake of transmitting procedure drop to minimum.
Then these data are sent to wireless transmitter module 6.
Power module 5 is responsible for the power supply of whole system.
Receiver module 7 is responsible for receiving the decode, and it and transmitter module adopt bluetooth equipment or special 2.4G radio communication.
Computing machine 8 is according to the acceleration information of each axle of real-time acquisition acceleration transducer 1 and gyro sensor 2 and acceleration information.Utilize the absolute coordinate system set up as described above, the integrated acceleration according to each axle calculates current speed value, then integration calculates the shift value of each axle.According to magnitude of angular velocity, integration calculates current angle.Then these data are recorded among database.
After obtaining each current axle acceleration, according to the variable quantity of angle, the real-time angle calculating current gravity and should be in, then by the size of gravity in initialization procedure above, calculate the component that gravity is fastened at three absolute coordinatess respectively, and weed out.
Then according to the data that three axle magnetometric sensors 3 are real-time, with the angle obtained, velocity information comparison, the weighting doing two data is corrected.To guarantee that the nonlinearities change of accekeration and gyrostatic drift equal error can not produce the error of accumulation in data final again, ensure the stability of system cloud gray model.
After completing above calculating, the triaxial coordinate point before the acceptance of the bid of space coordinates under water that just can be real-time is settled under water residing for hydrospace track location system, its present speed of acquisition, angle, acceleration that also can be real-time.These data are all recorded in the database in central processing unit buffer memory, in order to the program real-time calling differentiated.
Complete the calculation of attitude and the differentiation of actuating signal afterwards.Can be judged whether by the data in database above to complete range of motion, and current residing state.
The undeclared part related in the present invention is same as the prior art or adopt prior art to be realized.
Claims (2)
1. magnetic field and six axle inertia co-located systems by: (1) and (2) are the induction chip MPU6050 that the gyroscope of a 3-axis acceleration sensor and three axles forms respectively, (3) be a three-axle magnetic field meter RM G144, primary processor (4), wireless transmitter module (6), power module (5) is responsible for the power supply of whole system, receiver module (7) be responsible for receiving the decode before data, convert thereof into the signal that computing machine can identify, the data that computing machine (8) will receive, carry out processing and modeling, complete setting up and describing hydrospace Trajectory System of task.
2. a kind of magnetic field according to claim 1 and six axle inertia co-located systems, it is characterized in that: (1) (2) (3) sensing chip is by I2C bus, by the acceleration of each axle sensed, acceleration and magnetic field intensity send to primary processor (4), computing machine (8) is according to the acceleration information of each axle of real-time acquisition acceleration transducer (1) and gyro sensor (2) and acceleration information, integrated acceleration according to each axle calculates current speed value, integration calculates the shift value of each axle again, according to magnitude of angular velocity, integration calculates current angle, then these data are recorded among database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310451007.0A CN104515522A (en) | 2013-09-28 | 2013-09-28 | Underwater magnetic field and six-axis inertia combined positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310451007.0A CN104515522A (en) | 2013-09-28 | 2013-09-28 | Underwater magnetic field and six-axis inertia combined positioning system |
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| CN104515522A true CN104515522A (en) | 2015-04-15 |
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| CN201310451007.0A Pending CN104515522A (en) | 2013-09-28 | 2013-09-28 | Underwater magnetic field and six-axis inertia combined positioning system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990540A (en) * | 2015-06-30 | 2015-10-21 | 中国农业大学 | Water surface point position measuring device for aquaculture pond |
| CN107339969A (en) * | 2017-05-30 | 2017-11-10 | 浙江大学 | Underwater Deformation of surface figure real-time monitoring system based on MEMS attitude transducers |
| CN109186593A (en) * | 2018-09-13 | 2019-01-11 | 深圳市吉影科技有限公司 | A kind of motion profile record method for drafting of underwater unmanned plane |
| CN110174857A (en) * | 2019-04-04 | 2019-08-27 | 安徽天帆智能科技有限责任公司 | A kind of electronic lifeboat freely falling body booting |
| CN112046716A (en) * | 2019-06-05 | 2020-12-08 | 贯闳科技股份有限公司 | Power saving device for underwater vehicle |
-
2013
- 2013-09-28 CN CN201310451007.0A patent/CN104515522A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990540A (en) * | 2015-06-30 | 2015-10-21 | 中国农业大学 | Water surface point position measuring device for aquaculture pond |
| CN107339969A (en) * | 2017-05-30 | 2017-11-10 | 浙江大学 | Underwater Deformation of surface figure real-time monitoring system based on MEMS attitude transducers |
| CN107339969B (en) * | 2017-05-30 | 2019-11-05 | 浙江大学 | Underwater Deformation of surface figure real-time monitoring system based on MEMS attitude transducer |
| CN109186593A (en) * | 2018-09-13 | 2019-01-11 | 深圳市吉影科技有限公司 | A kind of motion profile record method for drafting of underwater unmanned plane |
| CN110174857A (en) * | 2019-04-04 | 2019-08-27 | 安徽天帆智能科技有限责任公司 | A kind of electronic lifeboat freely falling body booting |
| CN112046716A (en) * | 2019-06-05 | 2020-12-08 | 贯闳科技股份有限公司 | Power saving device for underwater vehicle |
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Application publication date: 20150415 |