关键词: 姿态测量系统 水下航行体, 运动参数, 捷联惯导, 四元数

Abstract: The movement parameters of the underwater vehicle testing system based on Motion tracker instrument （MTi）were designed for the requirement of underwater experiment. The principle and arithmetic of the system, the hardware design and the software design were introduced . In the system , the MTi based on MEMS sensor technology was used as IMU. Navigation computer acquires the sensor data from accelerometers, gyroscopes and magnetometers of MTi, and then calculates and stores the attitude, speed and position of the underwater vehicle by updating rotation matrix with the SINS quaternion arithmetic. In the end, the data was read and stored by the navigation computer. The movement parameters of underwater vehicle have been acquired in underwater vehicle experiment by the testing system for many times. The testing system is reliable and meet the need of the movement parameter testing of underwater vehicle.

Key words: Motion tracker instrument, Underwater vehicle, Movement parameter, Sins, Quaternion