KONGSBERG MRU-5 并非船舶控制模块，而是一款基于 MEMS 技术的高性能三维运动姿态测量系统（姿态传感器），主要用于海上作业中的姿态确定和运动补偿。

一、产品概述

• 品牌与型号：KONGSBERG MRU-5
• 产品类型：三维运动姿态测量系统（姿态传感器）
• 技术基础：基于 MEMS 技术，包含三轴陀螺仪、三轴加速度计、三轴电子罗盘等运动传感器。

• 数据处理：通过内嵌的低功耗 ARM 处理器，得到经过温度补偿的三维姿态与方位等数据。

二、核心功能

1. 姿态测量：

   • 提供横摇与纵摇数据输出，角度方向范围 ±180°。
   • Roll、Pitch 分辨率 0.001°。
   • 静态精度 0.02° RMS，动态精度（±5° 振幅）0.02° RMS。

2. 运动补偿：

   • 适用于多波束回声测深仪、单波束回声测深仪的运动补偿。
   • 用于 AUV（自主水下航行器）和 ROV（遥控水下航行器）的方向和姿态测量。
   • 支持海上起重机的升沉补偿、高速船运动控制和阻尼系统、动态定位、水声定位等。

3. 其他功能：

   • 涌浪输出，输出范围 ±50 m，周期（实时）0 - 25 s，周期（延迟）0 - 50 s。
   • 涌浪精度（实时）5cm 或者量程的 5%，涌浪精度（延迟）2cm 或者量程的 2%。

   • 加速度输出，加速度范围 ±30 m/s²，加速度噪声 0.002 m/s² RMS，加速度精度 0.01 m/s² RMS。

三、技术特点

• 高精度：在所有动态环境中提供高精度运动测量。
• 低角度噪声和偏差稳定性：采用最佳的 MEMS 基陀螺技术。
• 广泛适用性：涵盖所有海洋活动，从小型水文船只到大型船只和设施。

四、应用场景

• 海洋探测：用于多波束和单波束回声测深仪的运动补偿，提高海洋探测的准确性。
• 水下航行器：为 AUV 和 ROV 提供方向和姿态测量，支持自主水下航行和遥控操作。
• 海上起重：实现海上起重机的升沉补偿，提高起重作业的安全性和效率。
• 船舶控制：用于高速船运动控制和阻尼系统，优化船舶的航行性能。
• 动态定位：支持船舶的动态定位，确保在复杂海况下的稳定作业。
• 水声定位：用于水声定位系统，提高水下目标定位的精度。

KONGSBERG MRU-5 is not a ship control module, but a high-performance 3D motion attitude measurement system (attitude sensor) based on MEMS technology, mainly used for attitude determination and motion compensation in offshore operations.

1、 Product Overview

Brand and Model: KONGSBERG MRU-5

Product type: 3D motion posture measurement system (posture sensor)

Technical foundation: Based on MEMS technology, including three-axis gyroscope, three-axis accelerometer, three-axis electronic compass and other motion sensors.

Data processing: By using an embedded low-power ARM processor, temperature compensated 3D pose and orientation data are obtained.

2、 Core functions

Attitude measurement:

Provide roll and pitch data output, with an angle direction range of ± 180 °.

Roll and Pitch resolution is 0.001 °.

Static accuracy 0.02 ° RMS, dynamic accuracy (± 5 ° amplitude) 0.02 ° RMS.

Motion compensation:

Suitable for motion compensation of multi beam echo sounders and single beam echo sounders.

Used for direction and attitude measurement of AUVs (Autonomous Underwater Vehicles) and ROVs (Remote Operated Underwater Vehicles).

Support for heave compensation of offshore cranes, high-speed ship motion control and damping systems, dynamic positioning, underwater acoustic positioning, etc.

Other functions:

Surge output, output range ± 50 m, period (real-time) 0-25 s, period (delay) 0-50 s.

Surge accuracy (real-time) 5cm or 5% of range, surge accuracy (delay) 2cm or 2% of range.

Acceleration output, acceleration range ± 30 m/s ², acceleration noise 0.002 m/s ² RMS, acceleration accuracy 0.01 m/s ² RMS.

3、 Technical features

High precision: Provides high-precision motion measurement in all dynamic environments.

Low angle noise and bias stability: using the best MEMS based gyroscope technology.

Wide applicability: covering all marine activities, from small hydrological vessels to large vessels and facilities.

4、 Application scenarios

Ocean exploration: used for motion compensation of multi beam and single beam echo sounders to improve the accuracy of ocean exploration.

Underwater vehicle: Provides direction and attitude measurement for AUVs and ROVs, supports autonomous underwater navigation and remote control operations.

Offshore lifting: achieving compensation for the lifting and sinking of offshore cranes, improving the safety and efficiency of lifting operations.

Ship control: used for high-speed ship motion control and damping systems to optimize the navigation performance of ships.

Dynamic positioning: Supports dynamic positioning of ships to ensure stable operations in complex sea conditions.

Underwater acoustic positioning: used in underwater acoustic positioning systems to improve the accuracy of underwater target positioning.