TightlyCoupledINSGNSS-master
所属分类：其他
开发工具：matlab
文件大小：8372KB
下载次数：20
上传日期：2019-11-26 16:05:02
上 传 者：
6685237
说明： 基于伪距与伪距率的紧组合代码，含有格式数据和说明
(Tightly coupled code based on pseudo range and pseudo range rate, including format data and description)
文件列表:
CalculateTCRes (0, 2018-12-14)
CalculateTCRes\CTM_to_Euler.m (800, 2018-12-14)
CalculateTCRes\CreatMOD_STA.m (2143, 2018-12-14)
CalculateTCRes\CreatMOD_constant.m (623, 2018-12-14)
CalculateTCRes\ECEF_to_NED.m (2476, 2018-12-14)
CalculateTCRes\Euler_to_CTM.m (1291, 2018-12-14)
CalculateTCRes\Gravity_ECEF.m (1400, 2018-12-14)
CalculateTCRes\HeadingNToEulerE.m (745, 2018-12-14)
CalculateTCRes\IAE_KF_Epoch.m (9179, 2018-12-14)
CalculateTCRes\INS_GNSS_Demo_7.m (8086, 2018-12-14)
CalculateTCRes\Initialize_TC_P_matrix.m (1510, 2018-12-14)
CalculateTCRes\MLS_KF_Epoch.m (13648, 2018-12-14)
CalculateTCRes\NED_to_ECEF.m (1965, 2018-12-14)
CalculateTCRes\Nav_equations_ECEF.m (3408, 2018-12-14)
CalculateTCRes\PickSubsetOfGNSS.m (2597, 2018-12-14)
CalculateTCRes\RemoveOutlierGNSSObs.m (4302, 2018-12-14)
CalculateTCRes\Skew_symmetric.m (507, 2018-12-14)
CalculateTCRes\StationarityDetection.m (235, 2018-12-14)
CalculateTCRes\TC_KF_Epoch.m (13015, 2018-12-14)
CalculateTCRes\Tightly_coupled_INS_GNSS.m (23839, 2018-12-14)
CalculateTCRes\pv_ECEF_to_NED.m (2210, 2018-12-14)
CalculateTCRes\pv_NED_to_ECEF.m (1723, 2018-12-14)
LICENSE (1240, 2018-12-14)
SharedMat (0, 2018-12-14)
SharedMat\CreatMOD_STA.m (2143, 2018-12-14)
SharedMat\CreatMOD_constant.m (623, 2018-12-14)
SharedMat\MOD_STA_BUAADF_RTK.mat (565, 2018-12-14)
SharedMat\MOD_constant.mat (594, 2018-12-14)
TCdata (0, 2018-12-14)
TCdata\DGNSSRES (0, 2018-12-14)
TCdata\DGNSSRES\2018 (0, 2018-12-14)
TCdata\DGNSSRES\2018\165 (0, 2018-12-14)
TCdata\DGNSSRES\2018\165\GNSSRefPos.mat (76975, 2018-12-14)
TCdata\GNSSObsForCouple (0, 2018-12-14)
TCdata\GNSSObsForCouple\2018 (0, 2018-12-14)
TCdata\GNSSObsForCouple\2018\165 (0, 2018-12-14)
TCdata\GNSSObsForCouple\2018\165\小车 (0, 2018-12-14)
... ...
# Tightly Coupled INS GNSS
本程序基于教材:
Paul D. Groves, 练军想, 唐康华, 潘献飞. GNSS与惯性及多传感器组合导航系统原理 : Principles of GNSS, inertial, and multisensor integrated navigation systems. 北京:国防工业出版社, 2015.
附赠的INS/GNSS紧组合仿真代码进行修改得到,能够实现基于伪距、伪距率、INS数据的紧组合解算。
文件夹CalculateTCRes为紧组合解算程序,INS_GNSS_Demo_7为主脚本
文件夹SharedMat为运行所需常量数组
文件夹TCdata为一组手推车实验数据,包含InertialExplorer软件INS/RTK模式输出的参考导航解(DGNSSRES文件夹),预处理后的GNSS观测(GNSSObsForCouple文件夹),预处理后的INS观测(IMU文件夹),双GNSS天线测向数据(SPANE1文件夹)
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