四元数程序与惯组数据.rar

  • qazxswxuan
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  • matlab
    开发工具
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  • rar
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  • 2018-10-25 16:59
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姿态解算 四元数公式文件代码为 function dq=MyQuaternion(t,q,Wmx,Wmy,Wmz) dq=zeros(4,1); dq(1)=1/2*(-Wmx*q(2)-Wmy*q(3)-Wmz*q(4)); dq(2)=1/2*(Wmx*q(1)+Wmz*q(3)-Wmy*q(4)); dq(3)=1/2*(Wmy*q(1)-Wmz*q(2)+Wmx*q(4)); dq(4)=1/2*(Wmz*q(1)+Wmy*q(2)-Wmx*q(3));
四元数程序与惯组数据.rar
  • 四元数程序与惯组数据
  • imudata-2018-09-27-19-10-37.txt
    651KB
  • AngleCompensation.m
    921B
  • lab.m
    307B
  • MyQuaternion.m
    266B
  • MZD06用户使用手册.pdf
    667.7KB
  • imudata-2018-09-27-19-04-27.txt
    1.9MB
  • MZD06_unpack.m
    2KB
内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6250d14d74bc5c01057ca9ba/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6250d14d74bc5c01057ca9ba/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">1 &#20135;&#21697;<span class="_ _0"></span>&#31616;&#20171;</div><div class="t m0 x2 h3 y2 ff1 fs1 fc0 sc1 ls0 ws0"> </div><div class="t m0 x1 h4 y3 ff2 fs2 fc0 sc1 ls0 ws0">1.1 </div><div class="t m1 x3 h5 y3 ff3 fs3 fc0 sc0 ls0 ws0">&#20135;&#21697;&#25551;<span class="_ _0"></span>&#36848;</div><div class="t m0 x4 h4 y3 ff2 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x5 h6 y4 ff4 fs4 fc0 sc1 ls0 ws0">MZD06 MEMS<span class="_ _1"> </span>&#24815;&#24615;/&#21355;&#26143;&#33322;<span class="_ _2"></span>&#21521;&#23039;&#24577;&#21442;&#32771;&#31995;&#32479;<span class="_ _2"></span>&#26159;&#19968;&#27454;&#24815;&#24615;/&#21355;<span class="_ _2"></span>&#26143;&#32452;&#21512;&#23548;&#33322;&#27979;<span class="_ _2"></span>&#37327;&#35774;&#22791;&#65292;&#21487;&#29992;<span class="_ _2"></span>&#20110;&#23548;&#33322;&#12289;&#25511;&#21046;<span class="_ _2"></span>&#21644;</div><div class="t m0 x1 h6 y5 ff4 fs4 fc0 sc1 ls0 ws0">&#21160;&#24577;&#27979;&#37327;&#12290;&#31995;&#32479;<span class="_ _2"></span>&#37319;&#29992;&#39640;&#31934;&#24230;&#30340;&#19977;<span class="_ _2"></span>&#36724;&#30707;&#33521;<span class="_ _1"> </span>MEMS<span class="_ _1"> </span>&#38464;&#34746;&#20202;&#12289;&#19977;&#36724;<span class="_ _1"> </span>MEMS<span class="_ _1"> </span>&#21152;&#36895;&#24230;&#35745;&#12289;G<span class="_ _2"></span>PS/BD&#8545;&#21452;&#27169;&#21355;&#26143;<span class="_ _2"></span>&#23548;&#33322;&#25509;&#25910;</div><div class="t m0 x1 h6 y6 ff4 fs4 fc0 sc1 ls0 ws0">&#26426;&#65292;&#36890;&#36807;&#22810;&#39033;&#34917;<span class="_ _2"></span>&#20607;&#25216;&#26415;&#20445;&#35777;&#24815;&#24615;<span class="_ _2"></span>&#20803;&#22120;&#20214;&#30340;&#27979;&#37327;<span class="_ _2"></span>&#31934;&#24230;&#65292;&#37319;&#29992;&#21345;&#23572;</div><div class="t m0 x1 h6 y7 ff4 fs4 fc0 sc1 ls0 ws0">&#26364;&#28388;&#27874;&#26368;&#20248;&#34701;&#21512;&#25216;&#26415;&#20445;&#35777;&#20102;&#31995;<span class="_ _0"></span>&#32479;&#22312;&#21160;&#24577;&#26465;&#20214;&#19979;&#30340;&#26368;&#20248;&#23548;<span class="_ _0"></span>&#33322;&#24615;&#33021;&#12290;</div><div class="t m0 x1 h6 y8 ff4 fs4 fc0 sc1 ls0 ws0">MZD06 MEMS<span class="_ _1"> </span>&#24815;&#24615;/&#21355;&#26143;&#33322;<span class="_ _2"></span>&#21521;&#23039;&#24577;&#21442;&#32771;&#31995;&#32479;<span class="_ _2"></span>&#37319;&#29992;&#20102;&#23567;&#20307;&#31215;&#12289;<span class="_ _2"></span>&#20302;&#21151;</div><div class="t m0 x1 h6 y9 ff4 fs4 fc0 sc1 ls0 ws0">&#32791;&#30340;&#30005;&#23376;&#20803;&#22120;&#20214;<span class="_ _2"></span>&#21644;&#20256;&#24863;&#22120;&#65292;&#24182;&#37319;<span class="_ _2"></span>&#29992;&#20005;&#26684;&#24037;&#33402;&#20445;<span class="_ _2"></span>&#35777;&#20135;&#21697;&#22312;&#24694;&#21155;&#30340;</div><div class="t m0 x1 h6 ya ff4 fs4 fc0 sc1 ls0 ws0">&#28201;&#24230;&#12289;&#21147;&#23398;&#29615;&#22659;<span class="_ _2"></span>&#19979;&#20173;&#33021;&#31934;&#30830;&#22320;&#27979;<span class="_ _2"></span>&#37327;&#36733;&#20307;&#30340;&#35282;&#36816;<span class="_ _2"></span>&#21160;&#12289;&#32447;&#36816;&#21160;&#12289;&#20301;</div><div class="t m0 x1 h6 yb ff4 fs4 fc0 sc1 ls0 ws0">&#32622;&#12289;&#36895;&#24230;&#21644;&#23039;&#24577;<span class="_ _2"></span>&#21442;&#25968;&#65292;&#21487;&#20197;&#20026;&#29992;<span class="_ _2"></span>&#25143;&#25552;&#20379;&#20302;&#25104;&#26412;<span class="_ _2"></span>&#39640;&#21487;&#38752;&#24615;&#30340;&#23548;&#33322;</div><div class="t m0 x1 h6 yc ff4 fs4 fc0 sc1 ls0 ws0">&#35299;&#20915;&#26041;&#26696;&#12290; </div><div class="t m0 x1 h4 yd ff2 fs2 fc0 sc1 ls0 ws0">1.2 </div><div class="t m1 x3 h5 yd ff3 fs3 fc0 sc0 ls0 ws0">&#20027;&#35201;&#29305;<span class="_ _0"></span>&#28857;</div><div class="t m0 x4 h4 yd ff2 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x5 h6 ye ff4 fs4 fc0 sc1 ls0 ws0">MZD06 MEMS<span class="_ _1"> </span>&#24815;&#24615;/&#21355;&#26143;&#33322;<span class="_ _2"></span>&#21521;&#23039;&#24577;&#21442;&#32771;&#31995;&#32479;<span class="_ _2"></span>&#30340;&#20027;&#35201;&#29305;&#28857;&#65306;<span class="_ _2"></span> </div><div class="t m0 x5 h6 yf ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#36866;&#29992;&#33539;&#22260;&#24191;&#12290;&#37319;<span class="_ _2"></span>&#29992;<span class="_ _1"> </span>GPS/BD&#8545;&#21452;&#27169;&#21355;&#26143;<span class="_ _2"></span>&#23548;&#33322;&#31995;&#32479;&#65292;&#39640;</span></span></div><div class="t m0 x6 h6 y10 ff4 fs4 fc0 sc1 ls0 ws0">&#36319;&#36394;&#28789;&#25935;&#24230;&#65292;&#22312;<span class="_ _2"></span>&#34903;&#36947;&#12289;&#19995;&#26519;&#31561;&#22797;<span class="_ _2"></span>&#26434;&#29615;&#22659;&#20063;&#20855;&#26377;<span class="_ _2"></span>&#24456;&#39640;&#30340;&#23450;&#20301;&#33021;&#21147;<span class="_ _2"></span>&#12290; </div><div class="t m0 x5 h6 y11 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#32452;&#21512;&#27169;&#24335;&#22810;&#12290;&#33322;<span class="_ _2"></span>&#21521;&#23039;&#24577;&#21442;&#32771;&#31995;&#32479;<span class="_ _2"></span>&#20869;&#37096;&#20855;&#26377;&#22402;&#30452;<span class="_ _2"></span>&#38464;&#34746;&#12289;&#38646;&#36895;&#20462;&#27491;<span class="_ _2"></span>&#12289;&#24815;&#24615;/&#21355;&#26143;<span class="_ _2"></span>&#31561;&#22810;&#31181;&#32452;&#21512;&#22810;<span class="_ _2"></span>&#31181;&#32452;&#21512;</span></span></div><div class="t m0 x6 h6 y12 ff4 fs4 fc0 sc1 ls0 ws0">&#27169;&#24335;&#65292;&#21487;&#20197;&#23454;&#29616;<span class="_ _2"></span>&#39640;&#21487;&#38752;&#24615;&#30340;&#21442;&#25968;<span class="_ _2"></span>&#36755;&#20986;&#65307;&#21516;&#26102;&#65292;<span class="_ _2"></span>&#31995;&#32479;&#20855;&#22791;&#22806;&#25509;<span class="_ _1"> </span>DVL&#12289;&#37324;&#31243;<span class="_ _2"></span>&#35745;&#12289;&#21452;&#22825;&#32447;&#25509;&#25910;<span class="_ _2"></span>&#26426;&#12289;&#28145;&#24230;</div><div class="t m0 x6 h6 y13 ff4 fs4 fc0 sc1 ls0 ws0">&#35745;&#12289;&#31354;&#36895;&#34920;&#31561;&#36741;<span class="_ _2"></span>&#21161;&#35774;&#22791;&#36827;&#34892;&#32452;&#21512;<span class="_ _2"></span>&#23548;&#33322;&#30340;&#21151;&#33021;&#12290;<span class="_ _2"></span> </div><div class="t m0 x5 h6 y14 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#36866;&#24212;&#33021;&#21147;&#24378;&#12290;&#31995;<span class="_ _2"></span>&#32479;&#37319;&#29992;<span class="_ _1"> </span>MEMS<span class="_ _1"> </span>&#22120;&#20214;&#65292;&#25239;&#25391;&#21160;&#20914;<span class="_ _2"></span>&#20987;&#33021;&#21147;&#24378;&#65292;-4<span class="_ _2"></span>0&#8451;&#65374;+60&#8451;&#20840;<span class="_ _2"></span>&#28201;&#24037;&#20316;&#12290; </span></span></div><div class="t m0 x5 h6 y15 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#24615;&#33021;&#25351;&#26631;&#20248;&#12290;&#32452;<span class="_ _2"></span>&#21512;&#23548;&#33322;&#27700;&#24179;&#23039;<span class="_ _2"></span>&#24577;<span class="_ _1"> </span>0.05</span></span></div><div class="t m0 x7 h7 y16 ff7 fs1 fc0 sc1 ls0 ws0">&#61616;</div><div class="t m0 x8 h6 y15 ff4 fs4 fc0 sc1 ls0 ws0">&#65288;rms&#65289;&#65292;&#20301;<span class="_ _2"></span>&#32622;&#20248;&#20110;<span class="_ _1"> </span>15m&#65288;rms&#65289;&#65292;&#36895;<span class="_ _2"></span>&#24230;&#20248;&#20110;<span class="_ _1"> </span>0.15m/s</div><div class="t m0 x6 h6 y17 ff4 fs4 fc0 sc1 ls0 ws0">&#65288;rms&#65289;&#65292;&#20307;&#31215;<span class="_ _1"> </span>50mm</div><div class="t m0 x9 h7 y18 ff7 fs1 fc0 sc1 ls0 ws0">&#61620;</div><div class="t m0 xa h6 y17 ff4 fs4 fc0 sc1 ls0 ws0">38.5mm</div><div class="t m0 xb h7 y18 ff7 fs1 fc0 sc1 ls0 ws0">&#61620;</div><div class="t m0 xc h6 y17 ff4 fs4 fc0 sc1 ls0 ws0">22.5mm&#65288;&#19981;<span class="_ _2"></span>&#21547;&#23433;&#35013;&#32819;&#65289;<span class="_ _2"></span>&#65292;&#37325;&#37327;&#19981;&#22823;&#20110;<span class="_ _1"> </span>80g&#12290; </div><div class="t m0 x5 h6 y19 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#29992;&#25143;&#20307;&#39564;&#22909;&#12290;&#25903;<span class="_ _2"></span>&#25345;<span class="_ _1"> </span>RS-422&#12289;RS-232<span class="_ _1"> </span>&#20018;&#21475;&#65292;&#25903;<span class="_ _2"></span>&#25345;&#36755;&#20986;&#36895;&#29575;&#21487;<span class="_ _2"></span>&#35843;&#65292;&#25903;&#25345;&#22312;&#32447;<span class="_ _2"></span>&#19978;&#20256;&#31243;&#24207;/&#21442;&#25968;<span class="_ _2"></span>&#65292;&#25903;&#25345;</span></span></div><div class="t m0 x6 h6 y1a ff4 fs4 fc0 sc1 ls0 ws0">8V&#65374;36V<span class="_ _1"> </span>&#23485;&#30005;&#21387;&#20379;&#30005;&#12290;<span class="_ _2"></span> </div><div class="t m0 x1 h4 y1b ff2 fs2 fc0 sc1 ls0 ws0">1.3 </div><div class="t m1 x3 h5 y1b ff3 fs3 fc0 sc0 ls0 ws0">&#31995;&#32479;&#32452;<span class="_ _0"></span>&#25104;</div><div class="t m0 x4 h4 y1b ff2 fs2 fc0 sc1 ls0 ws0"> </div><div class="t m0 x1 h8 y1c ff6 fs5 fc0 sc1 ls0 ws0"> </div><div class="t m0 x5 h6 y1d ff4 fs4 fc0 sc1 ls0 ws0">MZD06 MEMS<span class="_ _1"> </span>&#24815;&#24615;/&#21355;&#26143;&#33322;<span class="_ _2"></span>&#21521;&#23039;&#24577;&#21442;&#32771;&#31995;&#32479;<span class="_ _2"></span>&#20027;&#35201;&#30001;&#19977;&#36724;&#30707;<span class="_ _2"></span>&#33521;<span class="_ _4"> </span>MEMS<span class="_ _1"> </span>&#38464;&#34746;&#20202;&#12289;&#19977;&#36724;<span class="_ _1"> </span>MEMS<span class="_ _1"> </span>&#21152;&#36895;&#24230;&#35745;&#12289;<span class="_ _2"></span> </div><div class="t m0 x1 h6 y1e ff4 fs4 fc0 sc1 ls0 ws0">GPS/BD&#8545;&#21452;&#27169;&#21355;<span class="_ _2"></span>&#26143;&#23548;&#33322;&#25509;&#25910;&#26426;&#12289;<span class="_ _2"></span>&#20449;&#24687;&#22788;&#29702;&#30005;&#36335;<span class="_ _2"></span>&#12289;&#31995;&#32479;&#23548;&#33322;&#36719;&#20214;<span class="_ _2"></span>&#12289;&#31995;&#32479;&#32467;&#26500;&#20214;<span class="_ _2"></span>&#12289;&#31995;&#32479;&#27979;&#35797;&#30005;&#32518;<span class="_ _2"></span>&#12289;&#31995;&#32479;&#27979;&#35797;</div><div class="t m0 x1 h6 y1f ff4 fs4 fc0 sc1 ls0 ws0">&#36719;&#20214;&#32452;&#25104;&#12290; </div><div class="t m0 x5 h6 y20 ff4 fs4 fc0 sc1 ls0 ws0">&#40664;&#35748;&#25552;&#20379;&#22914;&#19979;&#36755;<span class="_ _2"></span>&#20986;: </div><div class="t m0 x5 h6 y21 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#19977;&#32500;&#23039;&#24577; </span></span></div><div class="t m0 x5 h6 y22 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#19977;&#32500;&#20301;&#32622; </span></span></div><div class="t m0 x5 h6 y23 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#19977;&#32500;&#36895;&#24230; </span></span></div><div class="t m0 x5 h6 y24 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#19977;&#32500;&#21152;&#36895;&#24230; </span></span></div><div class="t m0 x5 h6 y25 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#19977;&#32500;&#35282;&#36895;&#24230; </span></span></div><div class="t m0 x5 h6 y26 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#34917;&#20607;&#21518;&#30340;&#28201;&#24230;&#25968;<span class="_ _2"></span>&#25454; </span></span></div><div class="t m0 x5 h6 y27 ff5 fs4 fc0 sc1 ls0 ws0">&#61548;<span class="ff6"> <span class="_ _3"> </span><span class="ff4">&#21407;&#22987;&#30340;&#21355;&#26143;&#25509;&#25910;<span class="_ _2"></span>&#26426;&#20301;&#32622;&#12289;&#36895;&#24230;&#12289;<span class="_ _2"></span>PDOP<span class="_ _1"> </span>&#20540;&#12289;&#23450;&#20301;&#29366;&#24577;<span class="_ _2"></span> </span></span></div><div class="t m0 xd h9 y28 ff8 fs4 fc0 sc1 ls0 ws0"> </div><div class="t m0 xe h9 y29 ff8 fs4 fc0 sc1 ls0 ws0"> </div><div class="t m0 xf h6 y2a ff4 fs4 fc0 sc1 ls0 ws0">&#22270;<span class="_ _1"> </span><span class="ff8">1.1 <span class="_"> </span></span>&#31995;&#32479;&#22806;&#24418;&#31034;&#24847;&#22270;<span class="_ _2"></span><span class="ff8"> </span></div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div> </body> </html>
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