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、数据计算以及信息记录的方案。 This paper analyzes the technical features of angle sensor and acceleration sensor, summarizes the Euler angle method, the direction of the cosine method, the quaternion method of three common coordinate conversion method, to achieve self-positioning of the robot fish to obtain their own location information (speed, direction, Swimming distance, depth, etc.) and attitude information (head elevation, fish angle, etc.) feasibility studies, the installation of the sensor in the water polo game environment, calibration, data calculation and information recording scheme.