The Design And Study On The Attitude Estimation System Of Underwater Sway Platform

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.