【摘要】：海洋環(huán)境探測(cè)技術(shù)的載體一般可分為船載觀測(cè)平臺(tái)、固定觀測(cè)平臺(tái)與水下航行器三種形式。其中使用水下航行器的探測(cè)形式一般具有觀測(cè)范圍大、部署靈活方便、運(yùn)行成本低等優(yōu)點(diǎn)，成為未來(lái)海洋環(huán)境探測(cè)的主流方向。而相比較于HOV（載人潛水器）、ROV（遙控水下機(jī)器人）、AUV（自治水下機(jī)器人）等傳統(tǒng)水下航行器而言，水下滑翔機(jī)由于其更長(zhǎng)的續(xù)航時(shí)間，更多樣的數(shù)據(jù)采集能力，更靈活的姿態(tài)控制以及更低的研制成本，在近年來(lái)逐漸成為海洋研究領(lǐng)域的一種重要技術(shù)手段之一。 水下滑翔機(jī)內(nèi)部的一般設(shè)計(jì)框架是由浮力調(diào)節(jié)系統(tǒng)、重心調(diào)節(jié)系統(tǒng)、導(dǎo)航系統(tǒng)、通信系統(tǒng)以及多參數(shù)測(cè)量采集系統(tǒng)構(gòu)成，其中多參數(shù)測(cè)量采集系統(tǒng)是協(xié)調(diào)各系統(tǒng)的核心單元。本文針對(duì)這一思路，研究設(shè)計(jì)了一種高可靠性、低功耗、多通道數(shù)據(jù)采集的水下滑翔機(jī)多參數(shù)測(cè)量采集系統(tǒng)，具備多通道傳感器數(shù)據(jù)采集，，為導(dǎo)航系統(tǒng)提供慣性姿態(tài)測(cè)量數(shù)據(jù)，并為滑翔機(jī)自帶電池進(jìn)行智能供電管理的多種功能。其中多通道數(shù)據(jù)采集模塊在硬件上包括串口擴(kuò)展電路、中心微控制器及數(shù)據(jù)存儲(chǔ)電路，執(zhí)行的嵌入式軟件對(duì)系統(tǒng)搭載的傳感器進(jìn)行通訊控制、數(shù)據(jù)采集與數(shù)據(jù)存儲(chǔ)，保證了水下滑翔機(jī)的多參數(shù)數(shù)據(jù)采集與存儲(chǔ)能力；慣性測(cè)量模塊（IMU）基于全自主慣性導(dǎo)航技術(shù)，硬件由陀螺儀、加速度計(jì)、磁力計(jì)以及高計(jì)算性能、低功耗的微處理器組成，并在其上運(yùn)行低計(jì)算負(fù)荷的姿態(tài)更新解算算法，為水下滑翔機(jī)提供準(zhǔn)確、實(shí)時(shí)的姿態(tài)信息；電源管理模塊包括電壓檢測(cè)電路、電源開(kāi)關(guān)控制電路及微處理器，負(fù)責(zé)對(duì)系統(tǒng)電源進(jìn)行管理，并對(duì)系統(tǒng)本身以及各傳感器進(jìn)行供電控制。本文還對(duì)水下滑翔機(jī)可能搭載的各種傳感器進(jìn)行了配置，可能搭載的高能電池進(jìn)行了組合。同時(shí)，還設(shè)計(jì)了相應(yīng)的上位機(jī)軟件實(shí)現(xiàn)遠(yuǎn)程通訊與控制。上位機(jī)軟件使用C#語(yǔ)言編寫(xiě)，可在系統(tǒng)運(yùn)行前對(duì)系統(tǒng)及各個(gè)傳感器進(jìn)行參數(shù)配置與設(shè)置，并在系統(tǒng)工作結(jié)束后對(duì)所采集的數(shù)據(jù)進(jìn)行提取。 本文的第2章至第7章對(duì)系統(tǒng)從系統(tǒng)架構(gòu)設(shè)計(jì)、軟硬件實(shí)現(xiàn)到系統(tǒng)測(cè)試，進(jìn)行了完整的敘述。第2章對(duì)課題的整體設(shè)計(jì)架構(gòu)做了詳細(xì)描述，并特別分析了本課題內(nèi)容與水下滑翔機(jī)其他子系統(tǒng)的協(xié)作關(guān)系。第3章對(duì)慣性導(dǎo)航原理進(jìn)行了介紹，研究了姿態(tài)解算算法并對(duì)模塊的軟硬件進(jìn)行了選型與設(shè)計(jì)。第4章對(duì)多通道數(shù)據(jù)采集模塊進(jìn)行了設(shè)計(jì)，解析了各傳感器協(xié)議，進(jìn)行了FATFS文件系統(tǒng)在MicroSD卡上的移植并設(shè)計(jì)硬件電路與嵌入式軟件。第5章分析了電源管理模塊的任務(wù)，對(duì)系統(tǒng)使用的電池組進(jìn)行選型，設(shè)計(jì)了電壓檢測(cè)、MOS管開(kāi)關(guān)等硬件電路與模塊嵌入式軟件。第6章對(duì)上位機(jī)軟件需要的功能進(jìn)行了分析并完成了具體設(shè)計(jì)。第7章對(duì)系統(tǒng)的各個(gè)模塊軟硬件進(jìn)行了測(cè)試，并評(píng)估了慣性測(cè)量模塊中誤差校正算法的效果。 論文的最后部分，總結(jié)了已經(jīng)完成的工作及目前所存在的不足，對(duì)課題有待完善的部分作了分析與展望。
[Abstract]:The carrier of the marine environment detection technology can be divided into three forms: the ship-borne observation platform, the fixed observation platform and the underwater vehicle. The detection form of the underwater vehicle generally has the advantages of large observation range, flexible and convenient deployment, low operation cost and the like, and becomes the main flow direction of the future marine environment detection. Compared with traditional underwater vehicles such as HOV (manned submersible), ROV (remote control underwater robot) and AUV (autonomous underwater robot), the underwater glider has more data acquisition capability due to its longer endurance time, The more flexible attitude control and lower development cost has gradually become one of the important technical means in the field of marine research in recent years. The general design frame inside the underwater glider is composed of a buoyancy regulation system, a center of gravity regulation system, a navigation system, a communication system and a multi-parameter measurement and acquisition system, wherein the multi-parameter measurement and acquisition system is the core single of the coordination system In this paper, a multi-parameter measurement and acquisition system of the underwater glider with high reliability, low power consumption and multi-channel data acquisition is designed, and the multi-channel sensor data acquisition is provided to provide the inertial attitude measurement for the navigation system. It is believed to be a variety of work for smart power management for the glider's own battery the multi-channel data acquisition module comprises a serial port expansion circuit, a central microcontroller and a data storage circuit on the hardware, The invention discloses a multi-parameter data acquisition and storage capability of an underwater glider, wherein the inertial measurement module (IMU) is based on a full-automatic inertial navigation technology, and the hardware is composed of a gyroscope, an accelerometer, a magnetometer and a high-performance and low-power-consumption microprocessor group, and the power management module comprises a voltage detection circuit, a power switch control circuit and a microprocessor, The system itself and each sensor shall be provided with power supply control. In this paper, various kinds of sensors that can be carried by the underwater glider are also configured, and the high-energy battery can be mounted. At the same time, the corresponding computer software is designed to realize the remote communication and control. The upper computer software shall be written in C # language, and the system and each sensor shall be configured and set before the system is in operation, and the acquired data shall be extracted after the system operation is finished. Take. Chapter 2 to Chapter 7 of this paper designs the system from the system architecture, the hardware and software is implemented to the system test, and the whole system is complete. Chapter 2 gives a detailed description of the overall design framework of the subject, and analyses the contents of the subject and the association of other subsystems of the underwater glider. In chapter 3, the principle of inertial navigation is introduced, the algorithm of attitude calculation is studied, and the software and hardware of the module are selected. In chapter 4, the multi-channel data acquisition module is designed, the protocol of each sensor is analyzed, the transfer of the FATFS file system on the MicroSD card is carried out, and the hardware circuit and the embedding are designed The function of the power management module is analyzed in Chapter 5. The battery pack used in the system is selected, and hardware circuits such as voltage detection and MOS tube switch are designed to be embedded in the module The function of the software of the upper computer is analyzed and the tool is completed in Chapter 6. Volume design. Chapter 7 tests the software and hardware of each module of the system, and evaluates the error correction algorithm in the inertial measurement module The last part of the paper sums up the work that has been completed and the existing problems, and the part of the subject is to be improved.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：U674.941;U665.26

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