摘要
本文分析角度传感器和加速度传感器的技术特点，总结欧拉角法、方向余弦法，四元数法三种常用坐标换算方法，对机器鱼实现自我定位、获得自身位置信息（游速，游向、游动距离、深度等）和姿态信息（鱼头仰角、鱼体转角等）的可行性进行论证，研究了在机器鱼水球比赛环境中，传感器的安装、校准。
The paper analyses the characteristics of Angle and Acceleration Sensors. It makes a summary of three methods of coordinate conversion in common use, including Euler Algorithm, Direction Cosine, and Quaternion Method. The paper sustains the posibility that Robot Fishes can implement Self-orientation and gain the location- information（speed, direction, distance, depth） and pose-information（elevation of fish head, angle of fish body circumrotation）. The paper also does a research on setupping the sensors, adjusting the system, computing data, and recording information.
出处
《机器人技术与应用》
2009年第4期1-6,共6页
Robot Technique and Application
关键词
仿生机器鱼
角度传感器
加速度传感器
bio-mimetic Robot Fish, angle Sensors, acceleration Sensors
