Inertial-Navigation-System-program
所属分类:matlab编程
开发工具:matlab
文件大小:577KB
下载次数:370
上传日期:2015-07-13 17:23:42
上 传 者:
kekeA可可
说明: 严恭敏老师编写的SINS的Matlab仿真程序,包括大方位误差角扩展卡尔曼(EKF),滤波初始对准仿真,静态惯导/星敏感器组合,大姿态误差角非线性状态模型,UKF滤波。
(Yan Gong Min teacher preparation SINS of Matlab simulation program, including large azimuth error extended Kalman (EKF), filtering initial alignment simulation, static INS/Star Sensor, big attitude error angle nonlinear state model, UKF filter.)
文件列表:
SINS仿真程序-严老师\basefun\a2caw.m (211, 2008-03-22)
SINS仿真程序-严老师\basefun\a2cnb.m (297, 2008-02-21)
SINS仿真程序-严老师\basefun\a2cwa.m (193, 2008-03-22)
SINS仿真程序-严老师\basefun\a2qnb.m (55, 2008-02-21)
SINS仿真程序-严老师\basefun\AlignCorse.m (1281, 2011-09-03)
SINS仿真程序-严老师\basefun\AlignCorse1.m (1077, 2011-08-28)
SINS仿真程序-严老师\basefun\align_i0.m (1250, 2011-10-14)
SINS仿真程序-严老师\basefun\align_i0_1.m (1387, 2011-10-14)
SINS仿真程序-严老师\basefun\askew.m (131, 2008-02-25)
SINS仿真程序-严老师\basefun\cnscl.m (482, 2007-11-25)
SINS仿真程序-严老师\basefun\compassCmd.m (973, 2011-08-27)
SINS仿真程序-严老师\basefun\compasskxyz.m (554, 2009-06-05)
SINS仿真程序-严老师\basefun\DR.m (365, 2011-06-02)
SINS仿真程序-严老师\basefun\drift_bias.m (960, 2011-06-17)
SINS仿真程序-严老师\basefun\dv2atti.m (481, 2011-08-08)
SINS仿真程序-严老师\basefun\earth.m (595, 2009-06-18)
SINS仿真程序-严老师\basefun\ekf.m (454, 2012-02-02)
SINS仿真程序-严老师\basefun\etm.m (1179, 2011-08-27)
SINS仿真程序-严老师\basefun\getf.m (1143, 2009-06-04)
SINS仿真程序-严老师\basefun\getf_DR.m (1285, 2011-06-06)
SINS仿真程序-严老师\basefun\glvs.m (1634, 2011-07-25)
SINS仿真程序-严老师\basefun\ImuAddErr.m (511, 2011-06-06)
SINS仿真程序-严老师\basefun\ImuStatic.m (229, 2011-06-03)
SINS仿真程序-严老师\basefun\kalman.m (556, 2011-03-26)
SINS仿真程序-严老师\basefun\kfdis.m (683, 2008-03-24)
SINS仿真程序-严老师\basefun\large_phi_model.m (347, 2009-02-11)
SINS仿真程序-严老师\basefun\m2att.m (138, 2008-02-21)
SINS仿真程序-严老师\basefun\m2qnb.m (382, 2008-02-21)
SINS仿真程序-严老师\basefun\make_dll.m (419, 2009-06-03)
SINS仿真程序-严老师\basefun\markov.m (986, 2011-06-02)
SINS仿真程序-严老师\basefun\nav_err.m (237, 2011-06-06)
SINS仿真程序-严老师\basefun\nav_init.m (853, 2011-06-02)
SINS仿真程序-严老师\basefun\p2cne.m (222, 2010-05-05)
SINS仿真程序-严老师\basefun\prls.m (576, 2010-06-07)
SINS仿真程序-严老师\basefun\q2att.m (55, 2008-02-21)
SINS仿真程序-严老师\basefun\q2cnb.m (455, 2009-02-05)
SINS仿真程序-严老师\basefun\q2rv.m (177, 2009-02-05)
SINS仿真程序-严老师\basefun\qaddafa.m (110, 2012-02-03)
SINS仿真程序-严老师\basefun\qaddphi.m (67, 2008-03-24)
SINS仿真程序-严老师\basefun\qconj.m (52, 2007-11-21)
... ...
/*************************************************************************/
/* 捷联惯性导航仿真程序 */
/* 作者:西北工业大学 --- 严恭敏 */
/* E-mail: yangongmin@163.com */
/* 时间:2012-02-03 */
/*************************************************************************/
导航坐标系:东-北-天
载体坐标系:右-前-上
姿态角范围:-PI/2<=pitch<=PI/2, -PI SetPath... -> Add with
Subfolders... -> 选择本文件所在目录 -> 确定 -> Save -> Close
(2)运行test_trj生成轨迹
(3)运行test_sins进行捷联惯导解算仿真
(4)运行test_SINS_err_verify验证惯导误差方程推导的准确性
(5)运行test_SINS_GPS进行SINS/GPS组合仿真
(6)运行test_SINS_DR进行SINS/DR组合仿真。
其它演示程序包括:
test_cone_error 圆锥误差仿真
test_scull_error 划船误差仿真
test_drift_random_walk 随机游走仿真
test_align_kalman_fn kalman滤波初始对准仿真
test_align_compass_static 静基座罗经法初始对准仿真
test_align_compass_moving 动基座罗经法初始对准仿真
test_align_compass_reverse 基于逆向算法的罗经法初始对准仿真
test_align_ekf_5, test_align_ekf_10 大方位误差角EKF滤波初始对准仿真
test_align_ukf 大姿态误差角UKF滤波初始对准仿真
test_sins_static 静态捷联惯导解算仿真
test_sins_static_long_time 长时间惯导误差规律
test_SINS_GPS_static 静态SINS/GPS组合卡尔曼滤波演示
test_sins_ccd 静态惯导/星敏感器组合(理想化)
传递对准:
test_transfer_trj 生成摇翼机动轨迹
test_transfer_imu_sim 产生传递对准子惯导输出
test_transfer_align 速度+姿态匹配传递对准仿真
实测数据简要说明:
lgimu.dat 惯性级激光惯组放置车上,有人员上下车干扰,采集约半小时,采样周期8ms;
共6列数据:前3为角增量(当量0.932角秒/脉冲),后3为速度增量(当量500ug*s/脉冲,
1ug*s=9.7803267714*1e-6m/s);采集地点(西工大自动化学院惯性技术实验室)位置:
纬度34.246048度; 经度108.909663度; 高度380米。作者只作了罗经对准分析,读者
还可对该数据进行其它对准方法,及惯性导航等处理。
test_align_compass_lgimu 实测激光SIMU数据罗经对准
test_align_para_reco_lgimu 参数辨识初始精对准
test_align_kalman_vn_lgimu 以速度作为观测量的Kalman初始对准
近期下载者:
相关文件:
收藏者: