SINSesd44matrlab_Kalman.rar

  • mohamad.t
    了解作者
  • matlab
    开发工具
  • 22KB
    文件大小
  • rar
    文件格式
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  • 2019-01-31 17:47
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Kalman6 filter GPS/INS integration algorithm of GPS/INS
SINSesd44matrlab_Kalman.rar
  • SINS_Kalman
  • SkewMatrix_4.m
    253B
  • PlotResult.m
    569B
  • plot3.m
    5.8KB
  • Feedback_Check.m
    453B
  • F_update.m
    1.7KB
  • GetDataFromFile.m
    944B
  • Kalman_Filter.m
    2KB
  • measurement_update.m
    1.2KB
  • Q_update.m
    463B
  • GetParams.m
    1.1KB
  • PlotModeSetting.m
    405B
  • T2A.m
    457B
  • Data_Genetate.m
    4.7KB
  • plot2.m
    6.4KB
  • Qone.m
    132B
  • dispAVP.m
    761B
  • Oula_Angla.m
    693B
  • initial_Kalman.m
    1.9KB
  • Q2T.m
    402B
  • Para_Setting.m
    2KB
  • main.m
    4.1KB
  • Calc_Initial.m
    353B
  • A2T.m
    736B
  • Gk_update.m
    221B
  • AVP_Calc.m
    4.3KB
  • mainnn.m
    4.1KB
  • T2Q.m
    397B
  • Output_Check.m
    267B
  • SkewMatrix_4.m
    253B
  • measurement_update.m
    1.2KB
  • Data_Genetate.m
    4.7KB
  • Qone.m
    132B
  • Oula_Angla.m
    693B
  • Q2T.m
    402B
  • main.m
    4.1KB
  • Calc_Initial.m
    353B
  • Output_Check.m
    267B
内容介绍
function plot2(Plot_Mode,STEP,nTGPS,Para,AA,VV,POS,AA_Comp,VV_Comp,POS_Comp,Xw,Xa,AA0,isKalmanFilter,kalman_Para) %% plots D2R = Para.D2R; isTrue = length(AA0); if isTrue>0 EA = AA - AA0(:,1:2:end); disp('姿态解算各向最大误差(°)='); minmax(EA)/D2R end; [ms,str1,N] = PlotModeSetting(length(AA),STEP,Plot_Mode); %%%%%%%%%%%%% plot fix miniute AA = AA(:,1:N); VV = VV(:,1:N); POS = POS(:,1:N); ms2 = ms; while true selection_all=menu('Total console platform','Real_data','Cal_data','Compsenate_data',... 'X_data','sqrtP_data','close all plots'); switch selection_all case 1 while true selection=menu('Real_data console platform','Real_a','Real_w','Real_Pos','close all plots'); switch selection case 1 close all; PlotResult(ms2,'加速度',Xa','time',{'北向加速度', '东向加速度', '地向加速度'}, str1,'m/s^2'); case 2 close all; PlotResult(ms2,'角速率',Xw'/D2R,'time', {'X','Y','Z'},str1,'°/s'); case 3 close all; if isTrue PlotResult(ms2,'实际姿态曲线',AA0/D2R,'time', {'横摇角','纵摇角','航向角'},str1,'°'); else break; end; case 4 close all; break end; end; case 2 %%%%%%%%% 'Cal_data' while true selection=menu('Calc_data console platform','Cal_Pose','Cal_V','Cal_Pos','close all plots'); switch selection case 1 close all; PlotResult(ms,'解算姿态曲线',AA/D2R,'time', {'横摇角','纵摇角','航向角'},str1,'°'); case 2 close all; PlotResult(ms,'解算速度曲线',VV(1:2,:),'time', {'北向','东向', '天向' }, str1,'m/s'); case 3 close all; PlotResult(ms,'解算位置曲线',POS(1:2,:)/D2R,'time',{'纬度', '经度', 'Alpha'}, str1,'°'); case 4 close all; break end end; case 3 if isTrue while true selection=menu('Compsenate_data console platform', 'Comp_Pose','Comp_V','Comp_Pos',... 'close all plots'); switch selection case 1 close all; PlotResult(ms,'补偿后姿态曲线',AA_Comp/D2R,'time', {'北向','东向', '天向' },str1,'°'); case 2 close all; PlotResult(ms,'补偿后速度曲线',VV_Comp(1:2,:),'time', {'横摇角','纵摇角','航向角'}, str1,'m/s'); case 3 close all; PlotResult(ms,'补偿后位置曲线',POS_Comp(1:2,:)/D2R,'time',{'纬度', '经度', 'Alpha'}, str1,'°'); case 4 close all; break; end; end; end; case 4 if isKalmanFilter == 1 while true selection_2=menu('X_data console platform','X_A','X_v','X_Pos','X_Gyro_bias','X_Acc_bias',... 'close all plots'); switch selection_2 case 1 close all; PlotResult(ms,'Kaman滤波姿态',kalman_Para.X(1:3,:)/D2R,'time', {'横摇角','纵摇角','航向角'}, str1,'°'); case 2 close all; PlotResult(ms,'Kaman滤波速度',kalman_Para.X(4:6,:),'time', {'北向','东向','天向' },str1,'m/s'); case 3 close all; PlotResult(ms,'Kaman滤波位置',kalman_Para.X(7:8,:)/D2R,'time',{'纬度', '经度', 'Alpha'}, str1,'°'); case 4 close all; PlotResult(ms,'Kaman滤波陀螺零偏估计',kalman_Para.X(10:12,:)/D2R,'time',{'X axis', 'Y axis','Z axis'}, str1,'°'); case 5 close all; PlotResult(ms,'Kaman滤波加速度计零偏估计',kalman_Para.X(13:15,:),'time',{'X axis', 'Y axis','Z axis'}, str1,'°'); case 6 close all; break; end; end; end; case 5 if isKalmanFilter == 1 while true selection_2=menu('sqrtP console platform','P_A','P_v','P_Pos','P_Gyro_bias','P_Acc_bias',... 'close all plots'); switch selection_2 case 1 close all; PlotResult(ms,'Kaman滤波姿态',sqrt(kalman_Para.diagP(1:3,:))/D2R,'time', { '横摇角','纵摇角','航向角'}, str1,'°'); case 2 close all; PlotResult(ms,'Kaman滤波速度',sqrt(kalman_Para.diagP(4:6,:)),'time', {'北向','东向','天向'},str1,'m/s'); case 3 close all; PlotResult(ms,'Kaman滤波位置',sqrt(kalman_Para.diagP(7:9,:))/D2R,'time',{'纬度', '经度', 'Alpha'}, str1,'°'); case 4 close all; PlotResult(ms,'Kaman滤波陀螺零偏估计',sqrt(kalman_Para.diagP(10:12,:))/D2R,'time',{'X axis', 'Y axis','Z axis'}, str1,'°'); case 5 close all; PlotResult(ms,'Kaman滤波加速度计零偏估计',sqrt(kalman_Para.diagP(13:15,:)),'time',{'X axis', 'Y axis','Z axis'}, str1,'°'); case 6 close all; break; end; end; end; case 6 close all; break; end; end;
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