舰船在发射导弹或者舰载机起降时需要对舰船姿态实时监控，以提升舰船武器系统作战效率。本文提出一种基于STM32的舰船姿态监测系统，设计了系统的整体结构，通过倾角传感器、加速度传感器的测量数据实时获取舰船姿态，对传感器数据进行标定，获得了倾角传感器、加速度传感器的采集误差情况。单个传感器数据可能会存在异常或者错误的情况，提出使用卡尔曼滤波实现对多个传感器数据进行融合，数据融合结果和实际数据误差较小。本文设计的基于STM32的舰船姿态监测系统具有较好的实时性和稳定性。
In order to improve the combat efficiency of the ship weapon system, it is necessary to monitor the attitude of the ship in real time when launching missiles or taking off and landing of carrier-borne aircraft. In this paper, a ship attitude monitoring system based on STM32 is proposed, and the overall structure of the system is designed. The ship attitude is obtained in real time through the measurement data of the inclination sensor and acceleration sensor, and the sensor data is calibrated, and the acquisition error of the inclination sensor and acceleration sensor is obtained. The data of a single sensor may be abnormal or wrong, so Kalman filter is proposed to realize the fusion of multiple sensor data, and the error between the data fusion result and the actual data is small. The embedded ship attitude monitoring system designed in this paper has good real-time performance and stability.
2024,46(9): 172-175 收稿日期：2023-12-27
DOI：10.3404/j.issn.1672-7649.2024.09.031
分类号：U667.65
作者简介：杨淳清（1984 – ），女，硕士，副教授，研究方向为嵌入式技术
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