Design of a Seafloor Geohazard Dynamic Monitoring Device Based on Inertial Navigation System

² 1School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China 2College of Medical Instrumentation, Shanghai University of Medicine & Health Sciences, Shanghai 201318, China,

JERA 2026 , 10(2), 187–197; https://doi.org/10.26689/jera.v10i2.14332

© 2026 by the Authors. Licensee Whioce Publishing, Singapore. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License ( https://creativecommons.org/licenses/by/4.0/ )

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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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