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  • 大小: 11.3MB
    文件類型: .zip
    金幣: 1
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    發布日期: 2023-07-21
  • 語言: C/C++
  • 標簽: psins??慣性導航??

資源簡介

psins導航算法源碼有C語言版本和matlab版本，有學習的價值

資源截圖

代碼片段和文件信息 

#include?“KFApp.h“

/***************************??class?CCarAHRS??*********************************/
CCarAHRS::CCarAHRS（double?ts）:CTDKF（1613）
{
	levelAlignOK?=?yawAlignOK?=?initPosOK?=?FALSE;
	iter?=?-2;??ifn?=?0;
	measGPSVn?=?measGPSPos?=?measINSvn?=?measCMvb?=?measMag?=?O31;
	double?sts?=?sqrt（ts）;
	Pmax.Set2（10.0*glv.deg10.0*glv.deg30.0*glv.deg?50.050.050.0?1.0e4/glv.Re1.0e4/glv.Re1.0e4?
		1000.0*glv.dph1000.0*glv.dph1000.0*glv.dph?100.0*glv.mg100.0*glv.mg100.0*glv.mg?10000.0*glv.ppm）;
	Pmin.Set2（1.0*glv.min1.0*glv.min10.0*glv.min?0.010.010.1?1.0/glv.Re1.0/glv.Re0.1?
		0.1*glv.dph0.1*glv.dph0.1*glv.dph?0.1*glv.mg0.1*glv.mg0.1*glv.mg?10*glv.ppm）;
	Pk.SetDiag2（10.0*glv.deg10.0*glv.deg10.0*glv.deg?1.01.01.0?100.0/glv.Re100.0/glv.Re100.0?
		100.0*glv.dph100.0*glv.dph100.0*glv.dph?10.0*glv.mg10.0*glv.mg10.0*glv.mg?1000*glv.ppm）;
	Qt.Set2（1.1*glv.dpsh1.1*glv.dpsh1.1*glv.dpsh?500.0*glv.ugpsHz500.0*glv.ugpsHz500.0*glv.ugpsHz?0.00.00.0
		0.00.00.0?100.0*glv.ugpsh100.0*glv.ugpsh100.0*glv.ugpsh?100.0*glv.ppmpsh）;
	Rk.Set2（0.5?0.5?0.5?10.0/glv.Re?10.0/glv.Re?10.0?0.1/sts?0.1/sts?0.1/sts?10.0/sts?1000.0/sts?1.0/sts?1.0*glv.deg）;
	SetHk（）;?
	Hk（ZUPT3）?=?Hk（ZUPT+14）?=?Hk（ZUPT+25）?=?1.0;
	Hk（GPSYAW2）?=?-1.0;??measGPSYaw?=?0;
}

void?CCarAHRS::SetMeasGPSVn（CVect3&?vnGPS）
{
	measGPSVn?=?vnGPS;
	tmeas.dd[GPSVN]?=?tk;
}

void?CCarAHRS::SetMeasGPSPos（CVect3&?posGPS）
{
	measGPSPos?=?posGPS;
	tmeas.dd[GPSPOS]?=?tk;
	if（!initPosOK）
	{
		sins.pos?=?posGPS;??initPosOK?=?TRUE;
	}
}

void?CCarAHRS::SetMeasZUPT（void）
{
	measINSvn?=?sins.vn;
	tmeas.dd[ZUPT]?=?tk;
}

void?CCarAHRS::SetMeasMag（CVect3&?mag）
{
	measMag?=?mag;
}

void?CCarAHRS::SetMeasMC（void）
{
	Hk（CARMC+03）?=?sins.Cnb.e00;?Hk（CARMC+04）?=?sins.Cnb.e10;?Hk（CARMC+05）?=?sins.Cnb.e20;
	Hk（CARMC+13）?=?sins.Cnb.e01;?Hk（CARMC+14）?=?sins.Cnb.e11;?Hk（CARMC+15）?=?sins.Cnb.e21;
	Hk（CARMC+23）?=?sins.Cnb.e02;?Hk（CARMC+24）?=?sins.Cnb.e12;?Hk（CARMC+25）?=?sins.Cnb.e22;
	measCMvb?=?sins.vb;
	if（measCMvb.j>20）?measCMvb.j-=20;
	else?if（measCMvb.j<-1）?measCMvb.j-=-1;
	tmeas.dd[CARMC]?=?tk;
}

void?CCarAHRS::SetMeasGPSYaw（double?gpsYaw）
{
	measGPSYaw?=?gpsYaw;
	tmeas.dd[GPSYAW]?=?tk;
}

void?CCarAHRS::MeasRearrange（CSINS?&sins）
{
	if（yawAlignOK?&&?measGPSVn.k!=0?&&?tk-tmeas.dd[GPSVN]<0.5）???//?GPSVn
	{
		*（CVect3*）&Zk.dd[GPSVN]?=?sins.vn-measGPSVn;
		measGPSVn?=?O31;?SetMeasFlag（0x07）;
	}
	if（yawAlignOK?&&?measGPSPos.k!=0?&&?tk-tmeas.dd[GPSPOS]<0.5）???//?GPSPos
	{
		*（CVect3*）&Zk.dd[GPSPOS]?=?sins.pos-measGPSPos-sins.eth.vn2dpos（sins.vntk-tmeas.dd[GPSPOS]-sins.nts）;
		measGPSPos?=?O31;?SetMeasFlag（0x38）;
	}
	if（levelAlignOK?&&?measINSvn.k!=0?&&?tk-tmeas.dd[ZUPT]<0.1）???//?ZUPT
	{
		*（CVect3*）&Zk.dd[ZUPT]?=?measINSvn-sins.an*（tk-tmeas.dd[ZUPT]-sins.nts）;
		measINSvn?=?O31;?SetMeasFlag（0x01C0）;
	}
	else?if（levelAlignOK?&&?measCMvb.k!=0?&&?tk-tmeas.dd[CARMC]<0.1?&&

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-09-29?11:22??psins源碼\
?????目錄???????????0??2018-09-29?11:22??psins源碼\PSINS-CPP\
?????目錄???????????0??2018-09-29?11:22??psins源碼\PSINS-CPP\PSINS-CPP\
?????目錄???????????0??2018-09-29?11:22??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\
?????文件????????4310??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\KFApp.cpp
?????文件?????????912??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\KFApp.h
?????文件????????2195??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\Main.cpp
?????文件???????40431??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\PSINS.cpp
?????文件???????12299??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\CoreSource\PSINS.h
?????文件????20733089??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\data1.txt
?????目錄???????????0??2018-09-29?11:22??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\
?????目錄???????????0??2018-09-29?11:22??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\
?????文件???????50827??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\kfapp.crf
?????文件?????????387??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\kfapp.d
?????文件???????47892??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\kfapp.o
?????文件???????50097??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\main.crf
?????文件?????????377??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\main.d
?????文件???????38840??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\main.o
?????文件???????84979??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.crf
?????文件?????????349??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.d
?????文件??????248944??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.htm
?????文件?????????324??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.lnp
?????文件??????182060??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.o
?????文件???????16874??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.plg
?????文件????????1094??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\psins.tra
?????文件??????????28??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\Startup.d
?????文件????????3200??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\out\Startup.o
?????文件??????125113??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\psins.map
?????文件????????5953??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\psins.plg
?????文件???????70680??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\psins.uvgui.Cui
?????文件???????70681??2018-02-05?08:41??psins源碼\PSINS-CPP\PSINS-CPP\KeilV453\psins.uvgui_Cui.bak
............此處省略121個文件信息

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