The Research Of Underwater Glider Multi-parameter Measurement And Acquisition System

The carrier of the Marine environment detection technology can be ship based observation platform,fixed observation platform and underwater vehicle. The advantages of underwater vehicle includewider range of observation, flexible deployment and low running cost,which made it become thefuture direction of Marine environment detection. And compared with traditional HOV, ROV, AUV,the underwater glider due to its longer battery life, more diverse data acquisition ability, moreflexible attitude control and lower development costs, has gradually become one of the importanttechnical means in the field of ocean research in recent years.Underwater glider is composed by buoyancy adjusting system, gravity center adjusting system,navigation system, communication system and multi-parameter measurement and acquisitionsystem, multi-parameter measurement and acquisition system is the core system and coordinate allthe system unit of the glider. Based on this idea, the research designs a high reliability, low powerconsumption, multi-channel data acquisition of the underwater glider multi-parameter measurementand acquisition system, which has the ability of multi-channel sensor data collection, providinginertial attitude measuring data for navigation system, manage the battery usage of the glider. Themulti-channel data acquisition module includes the serial port extension circuit, the core controllerand data storage circuit on hardware. It runs embedded software with functions of marine sensorcontrol, data acquisition and data storage, which ensure the underwater glider’s ability ofmulti-parameter data acquisition and storage capacity; Inertial measurement module is based on theinertial navigation technology, hardware composed of the gyroscope, accelerometer, magnetometerand high performance, low power consumption microprocessor, and runs a low computational loadgesture calculate algorithm. It provides the underwater glider high accuracy and real-time attitudeinformation; Power management module includes voltage detection circuit, power switch controlcircuit and microprocessor, and it manage system power input and control the sensor power supply.This research has also analyzed the configuration of the marine sensors carried by underwater gliderand designed the combination of high-energy battery. This article also designed PC software torealize the remote communication and control. PC software is programmed by C#language, andcan change the configuration and Settings of each sensor and system parameters before the systemdeploy, and it can also upload the data collected in the survey after deploy.Chapter2to chapter7of this article describe the system architecture design, software andhardware implementation and system test. Chapter2describes the architecture of the integral designof the system, and particularly analyzed the relationship between multi-parameter measurement andacquisition system and other subsystem of the underwater glider.Chapter3introduces the principle of inertial navigation, analysis the gesture calculate algorithm, and design the inertial measurementmodule’s software and hardware. Chapter4designs the multi-channel data acquisition module,analysis the sensor protocol, transplants the FATFS file system on the MicroSD card and designs thehardware circuit of the module and the corresponding embedded software. Chapter5analyzes thepower management module’s task, select the systems battery, and design the voltage detectioncircuit, MOS switch circuit, other hardware circuit and module’s embedded software. Chapter6analyzed the functions need to be provided by the PC software and complete the programming.Chapter7tests all the system modules hardware and software and evaluates the effect of the errorcorrection algorithm in the inertial measurement module.At the end of the paper, we summarize all the work that has been done and analyzes the partswhich need to be improved.