%?分立式標(biāo)定程序，加計(jì)24位置標(biāo)定；陀螺標(biāo)度安裝陣6速率標(biāo)定；陀螺零漂24位置標(biāo)定
%?參考張紅良博士論文?P16-22，導(dǎo)航系取ENU
%?yhl?2012.1.4
%?clc;clear;close?all
clear?all
X1=load（‘F:\90\1#_換加表\標(biāo)定\分立式\xup.txt‘）;X2=load（‘F:\90\1#_換加表\標(biāo)定\分立式\xdown.txt‘）;
Y1=load（‘F:\90\1#_換加表\標(biāo)定\分立式\yup.txt‘）;Y2=load（‘F:\90\1#_換加表\標(biāo)定\分立式\ydown.txt‘）;
Z1=load（‘F:\90\1#_換加表\標(biāo)定\分立式\zup.txt‘）;Z2=load（‘F:\90\1#_換加表\標(biāo)定\分立式\zdown.txt‘）;
XZ=load（‘F:\90\1#_換加表\標(biāo)定\分立式\xz.txt‘）;XF=load（‘F:\90\1#_換加表\標(biāo)定\分立式\xf.txt‘）;
YZ=load（‘F:\90\1#_換加表\標(biāo)定\分立式\yz.txt‘）;YF=load（‘F:\90\1#_換加表\標(biāo)定\分立式\yf.txt‘）;
ZZ=load（‘F:\90\1#_換加表\標(biāo)定\分立式\zz.txt‘）;ZF=load（‘F:\90\1#_換加表\標(biāo)定\分立式\zf.txt‘）;
xzm?=?mean（XZ（:6:8））;xfm?=?mean（XF（:6:8））;yzm?=?mean（YZ（:6:8））;yfm?=?mean（YF（:6:8））;zzm?=?mean（ZZ（:6:8））;zfm?=?mean（ZF（:6:8））;
x1?=?mean（X1（:3:5））;x2?=?mean（X2（:3:5））;y1?=?mean（Y1（:3:5））;y2?=?mean（Y2（:3:5））;z1?=?mean（Z1（:3:5））;z2?=?mean（Z2（:3:5））;
gx1?=?mean（X1（:6:8））;gx2?=?mean（X2（:6:8））;gy1?=?mean（Y1（:6:8））;gy2?=?mean（Y2（:6:8））;gz1?=?mean（Z1（:6:8））;gz2?=?mean（Z2（:6:8））;
%?x1?=?mean（weizhi6（1:135003:5））;x2?=?mean（weizhi6（15000:250003:5））;y1?=?mean（weizhi6（26000:390003:5））;y2?=?mean（weizhi6（41000:540003:5））;z1?=?mean（weizhi6（56000:770003:5））;z2?=?mean（weizhi6（79000:1000003:5））;
%?gx1?=?mean（weizhi6（1:135006:8））;gx2?=?mean（weizhi6（15000:250006:8））;gy1?=?mean（weizhi6（26000:390006:8））;gy2?=?mean（weizhi6（41000:540006:8））;gz1?=?mean（weizhi6（56000:770006:8））;gz2?=?mean（weizhi6（79000:1000006:8））;
%%
%參數(shù)設(shè)置
lat?=?40.1222*pi/180;?sl?=?sin（lat）;?sl2?=?sl^2;?sl4?=?sl2^2;%緯度及其三角函數(shù)
sampT?=?0.005;?AccStopT?=?3*60;?GyroRotT?=?3*60;?GyroRotV?=?10;%采樣時(shí)間，加計(jì)24位置試驗(yàn)停止時(shí)間，陀螺速率試驗(yàn)轉(zhuǎn)動(dòng)時(shí)間，陀螺速率試驗(yàn)轉(zhuǎn)動(dòng)速率（°/s）
g0?=?9.7803267714;?g?=?g0*（1+5.27094e-3*sl2+2.32718e-5*sl4）;%重力計(jì)算
%%
%加計(jì)參數(shù)標(biāo)定
%?AFileName?=?‘24Position_‘;%24位置采樣數(shù)據(jù)頭文件名
%?ARawData?=?zeros（AccStopT/sampT7）;
%?for?i?=?1:24
%?????ARawData?=?load（strcat（strcat（AFileNameint2str（i））‘.txt‘））;%讀數(shù)
%?????AccPulMean24（i:）?=?mean（ARawData（:6:8））./sampT;?%24個(gè)位置每一位置上加計(jì)輸出脈沖的均值
%?????GyroPulMean24（i:）?=?mean（ARawData（:3:5））./sampT;%24個(gè)位置每一位置上陀螺輸出脈沖的均值
%?????if?mod（i4）?==?0
%?????????AccPulMean6（i/4:）?=?mean（AccPulMean24（i-3:i:）1）;%六組（x軸朝上、下，y軸朝上、下，z軸朝上、下）中每組位置對(duì)應(yīng)外框0，pi/2，pi，-pi/2四個(gè)位置上加速度計(jì)輸出脈沖的均值
%?????end
%?end
AccPulMean6?=?[x1;x2;y1;y2;z1;z2].*200;??%5ms
Fb?=?[g?-g??0??0??0??0;
?????0??0??g?-g??0??0;
?????0??0??0??0??g?-g];
Na?=?[AccPulMean6?-ones（61）];
Temp?=?zeros（44）;
for?i?=?1:6
????Temp（1:31:3）?=?Temp（1:31:3）?+?AccPulMean6（i:）‘*AccPulMean6（i:）;
????Temp（1:34）?=?Temp（1:34）?-?AccPulMean6（i:）‘;
????Temp（41:3）?=?Temp（41:3）?-?AccPulMean6（i:）;
end
Temp（44）?=?6;
Kf?=?Fb*Na/Temp;%參考P22，式2.23
m_AccBias?=?inv（Kf（:1:3））*Kf（:4）;%單位：P/s
m_AccMis?=?[0?Kf（12）/Kf（22）?Kf（13）/Kf（33）;Kf（21）/Kf（11）?0?Kf（23）/Kf（33）;Kf（31）/Kf（11）?Kf（32）/Kf（22）?0]*180/pi*60;%單位：arcmin
m_AccScal?=?[Kf（11）;Kf（22）;Kf（33）]*1e6;%單位：um/s/P
fprintf（‘加計(jì)標(biāo)定參數(shù)：\n‘）;
fprintf（‘\t\tBias（P/s）???：\t%.8f\t%.8f\t%.8f\n‘m_AccBias（1）m_AccBias（2）m_AccBias（3））;
fprintf（‘\t\tScal（um/s/P）：\t%.8f

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-10-23?19:47??溫補(bǔ)標(biāo)定—激光\標(biāo)定\
?????文件?????2371635??2018-02-07?15:52??溫補(bǔ)標(biāo)定—激光\標(biāo)定\!BY_陸用高精度激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)誤差參數(shù)估計(jì)方法研究?（1）.kdh
?????文件????????4678??2018-02-07?15:52??溫補(bǔ)標(biāo)定—激光\標(biāo)定\!BY_陸用高精度激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)誤差參數(shù)估計(jì)方法研究?（1）.xml
?????文件????16746367??2018-02-05?11:29??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式.rar
?????目錄???????????0??2018-12-04?13:01??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\
?????文件????????5036??2016-02-22?11:04??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\Calibration5ms.m
?????文件?????9559928??2016-02-22?10:20??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\xdown.txt
?????文件?????9454084??2016-02-22?10:29??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\xf.txt
?????文件????11928600??2016-02-22?10:25??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\xup.txt
?????文件?????9483150??2016-02-22?10:33??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\xz.txt
?????文件????10064022??2016-02-22?10:16??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\ydown.txt
?????文件????10038805??2016-02-22?10:52??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\yf.txt
?????文件????11142282??2016-02-22?10:01??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\yup.txt
?????文件????10060321??2016-02-22?10:47??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\yz.txt
?????文件????10756356??2016-02-22?10:12??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\zdown.txt
?????文件????12058653??2016-02-22?10:42??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\zf.txt
?????文件?????9676835??2016-02-22?10:08??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\zup.txt
?????文件?????9473787??2016-02-22?10:38??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\zz.txt
?????目錄???????????0??2016-02-22?14:17??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\
?????文件????????5036??2016-02-22?11:03??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\Calibration5ms.asv
?????文件????????5036??2016-02-22?11:04??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\Calibration5ms.m
?????文件?????9559928??2016-02-22?10:20??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\xdown.txt
?????文件?????9454084??2016-02-22?10:29??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\xf.txt
?????文件????11928600??2016-02-22?10:25??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\xup.txt
?????文件?????9483150??2016-02-22?10:33??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\xz.txt
?????文件????10064022??2016-02-22?10:16??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\ydown.txt
?????文件????10038805??2016-02-22?10:52??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\yf.txt
?????文件????11142282??2016-02-22?10:01??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\yup.txt
?????文件????10060321??2016-02-22?10:47??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\yz.txt
?????文件????10756356??2016-02-22?10:12??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\zdown.txt
?????文件????12058653??2016-02-22?10:42??溫補(bǔ)標(biāo)定—激光\標(biāo)定\分立式\分立式\zf.txt
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