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通过 matlab 编程实现捷联惯导系统初始对准、惯导解算的全过程

于 2021-04-21 发布

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下载积分: 1 下载次数: 24

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说明：通过 matlab 编程实现捷联惯导系统初始对准、惯导解算的全过程。 1）初始自对准：利用前10分钟实验车静止的数据进行惯导系统的自对准。采用前2分钟数据进行解析粗对准，后8分钟数据用五状态Kalman滤波器实现精对准；为了验证精对准性能，可在粗对准结果上把航向角人为加一定幅度（如10度）的误差，观察精对准的收敛性能。 2）纯惯导解算：对准结束后转入纯惯性导航解算，要求进行双子样的圆锥和划摇补偿，即每20ms完成一次导航解算，输出完整的导航结果包括三个姿态、两个水平速度和两个水平位置（天向通道发散不必输出），并给出姿态、速度、位置随时间的变化曲线以及位置误差曲线。(The whole process of initial alignment and inertial navigation solution of strapdown inertial navigation system is realized by matlab programming.)

文件列表：

exp2, 0 , 2018-07-28
exp2\coarse_align.m, 751 , 2018-06-09
exp2\dcm2eul.m, 274 , 2018-06-09
exp2\dcm2qua.m, 241 , 2018-06-09
exp2\eul2dcm.m, 489 , 2018-06-09
exp2\eul2qua.m, 439 , 2018-06-09
exp2\initpara.m, 389 , 2018-06-12
exp2\ins_navi.m, 1392 , 2018-07-27
exp2\KF_correct.m, 1552 , 2018-06-28
exp2\main.m, 2839 , 2018-07-27
exp2\pre_data.m, 586 , 2018-06-19
exp2\qua2dcm.m, 310 , 2018-06-09
exp2\qua_multiply.m, 225 , 2018-06-09

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