深海姿态系统的设计与实现

本文设计了一种基于MPU9250九轴数据传感器的深海姿态系统解决深海仪器姿态监测的问题，并进行了实验测试验证。系统采用STM32F103C8T6作为主控制芯片，采集MPU9250九轴数据，通过软件算法快速解算出当前的实时运动姿态，并利用三轴加速度数据计算出与自然坐标系Z轴的倾角。系统设计有存储模块及实时时钟模块，可以实时将设备的运动姿态、倾斜角度实时记录到存储模块中。并且根据深海仪器使用环境要求，结合有限元设计方法，设计深海耐压仓。实验结果表明：该姿态系统可以实现对深海仪器姿态及倾角的检测，精度可达0.5°，耐压可达4000米水深。

Design and realization of a deep-sea attitude system

This paper designs a deep-sea attitude system based on the MPU9250 nine-axis data sensor to solve the problem of deep-sea instrument attitude monitoring, and conducts experimental tests to verify it. The system uses STM32F103 as the main control chip to collect MPU9250 nine-axis data, and quickly calculate the current real-time motion posture through software algorithms. And use the three-axis acceleration data to calculate the inclination angle with the natural coordinate system Z axis. The system is designed with a storage module and a real-time clock module, which can record the movement posture and tilt angle of the equipment in the storage module in real time. And according to the environmental requirements of deep-sea instruments, combined with the finite element design method, design the deep-sea pressure tank. Experimental results show that the attitude system can detect the attitude and inclination of deep-sea instruments with an accuracy of 0.5°, and the pressure resistance can reach a depth of 4000 meters.