Quaternion-based attitude calculation of mechanical current meter
Liu Qingpeng1,2, Yu Yu2, Hui Li2, Lu Chengjie2
1. Qilu University of Technology,Shandong Academy of Sciences,Jinan 250353; 2. Institute of Oceanographic Instrumentation,Qilu University of Technology,Shandong Academy of Sciences,Qingdao 266100
Abstract：The flow direction is one of the indispensable information in the current measurement.The flow direction can be obtained by solving the attitude angle of the current meter.At present,using Euler's angular differential equation and direction cosine method to calculate attitude has the problem of singularities or too much computation.This paper uses the quaternion method to solve the attitude transformation matrix,and adopts four operations of quaternion to simplify the calculation process.The circuit and programming are designed based on the 6-axis processing component MPU6050 and magnetic resistance sensor HMC5883L.Finally,the feasibility of the algorithm is verified based on the experiment.
2021, Vol. 38 
