【作者】 李建竹；

【导师】 张骏；

【作者基本信息】 西北工业大学 ， 系统工程， 2007， 硕士

【摘要】 水下平台由于处于海流、潮汐之中，引起平台自身的晃动与扰动，导致平台在远程探测、精确定位跟踪中产生严重偏离，对探测系统进行目标探测、识别、分类等工作形成障碍。因此，针对水下平台的晃动进行姿态预测与姿态补偿成为水下探测、定位的关键技术。 在航天、航空领域，针对自身姿态采集与探测、定位平台姿态补偿已经有了大量的解决方案。而水下探测平台由于受海流、潮汐等海况的影响处于复杂的多维晃动中的运动规律、姿态估计与晃动补偿技术研究较少。本文主要研究水下探测平台晃动规律以及平台晃动的轨迹预测技术，提高远程目标探测的定位精度。论文主要的工作如下： 1．参照航天、航空领域的姿态采集与探测、定位平台姿态补偿技术，建立了水下晃动平台的坐标系，并且推导了平台坐标系与大地坐标系的转换关系。 2．建立简化的平台晃动模型以通过平台姿态角变化描述平台晃动规律。 3．研究卡尔曼滤波算法和简化的自适应卡尔曼滤波算法，仿真验证了其均有较好的跟踪和估计效果。 4．设计并实现了基于姿态传感器TCM2、MSP430149的姿态数据采集系统，实时获取水下平台的姿态信息，并可以图形化方式显示姿态变化过程。 论文通过对硬件系统与软件系统的调试，完成了水下平台姿态采集系统的研制，为水下平台的姿态估计提供了一个解决方案。更多还原

【Abstract】 Serious biases in both the long-range detection and accurate location track, may be caused by the rocking of underwater platform in the complicated ocean current and tide, and may become great barricades on target detection, identification and classification. Therefore it is a crucial technique to predict and compensate the attitude of swaying platform.There are lots of solutions for platform about attitude collection, swaying reducing on aeronautic and astronautic fields. However, the research for underwater platform is little because the platform is in the complicated rocking due to the ocean current and tide. The thesis mainly researched the swaying rule and the trace prediction technique for underwater platform in order to improve the tracking accuracy of long-range detecting object. The main content of the thesis is as follows:1. According to the attitude collection, swaying reducing techniques on aeronautic and astronautic fields, the reference frame of the swaying platform is built and the conversion matrix between the reference frame of the swaying platform and the reference frame of the ground is analyzed.2. Simplified model of the swaying platform is built and the rule of swaying platform is described through the change of the attitude angle.3. Traditional Kalman Filter and simplified adaptive Kalman Filter methods are adopted and good performance of tracking and predicting the trace of swaying platform can be reached through the simulation.4. Attitude data acquisition system based on attitude transducer TCM2、 MSP430149 are designed , and real time attitude data of the platform are collected and the changing process is showed graphically.Through successful debugging of the software system and the hardware system, the development of attitude data acquisition system is a way to estimate attitude of the underwater platform.更多还原