In order to accurately measure the attitude and heading of the vector hydrophone,a miniature attitude and heading reference system(AHRS)with a size of 20 mm×20 mm×5 mm and a weight of 1.8 g is designed.The angular velocity is obtained by micro electromechanical system(MEMS)gyroscope,and the quaternion equivalent rotation vector algorithm is used to calculate the attitude angles.The extended Kalman filter is designed to correct the estimated attitude angles,also to estimate the angular velocity drifts of the MEMS gyroscope.Tests show that the root mean square of pitch,roll and heading angle errors of the proposed AHRS are 0.04°,0.04° and 0.34°,respectively.Finally,the AHRS is embedded in the vector hydrophone,and the attitude correction is added to the direction-of-arrival estimation algorithm of the windowed histogram statistics.Sea test results indicate that the root mean square of the azimuth error of the single vector hydrophone corrected by AHRS is about 3.8° for the target ship with a speed of 8 kn,which reduces the azimuth measurement error caused by the platform movement.
attitude and heading reference systemextended Kalman filtervector hydrophonedirection-of-arrival estimation
万方数据
维普
