Keywords
Seafloor geohazard monitoring
MPU9250
Attitude solution
Rotation matrix
Dynamic experiment
Submitted : 2026-03-04
Accepted : 2026-03-19
Published : 2026-04-03
Abstract
To address the deficiency of existing technologies in long-term, large-scale in-situ seafloor geohazard monitoring, a dynamic monitoring device based on an inertial navigation system was designed. It features a three-level architecture with MPU9250 nine-axis sensors, RS485 multi-node communication and independent power supply. An algorithm system combining Euler angle-rotation matrix transformation, Mahony attitude solution and multi-filtering methods was built to realize sensor data denoising, attitude calculation and trajectory reconstruction. Laboratory static and dynamic free-release impact experiments under different inclined angles were conducted for verification. The results show that the device achieves drift-free static data acquisition, accurate and stable dynamic data collection and transmission, and can precisely reconstruct the 3D motion trajectory of monitoring terminals, with the impact acceleration within the measuring range. It meets the basic requirements for seafloor geohazard monitoring and provides a new technical solution for relevant in-situ monitoring.
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