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資源簡介

AUV慣性導航系統(tǒng)matlab仿真程序,包括軌跡生成、gps和sins組合、gps和dvl組合

資源截圖

代碼片段和文件信息

clc;
clear?all;
format?long;

Wie=7.292115147e-5;
e=1/298;
Re=6378245;

longi=2.024581932313422;
lati=0.698132683058538;
gao=1000;
vx=0;
vy=500;
vz=0;
hangxiang=0;???????????????%姿態(tài)角
fuyang=0;
henggun=0;
hk=zeros(615);

g0=9.7803267714;gk1=0.00193185138639;gk2=0.00669437999013;
g=g0*((1+gk1*sin(lati)^2)*(1-2*gao/Re)/sqrt(1-gk2*sin(lati)^2));

cnb=zeros(33);
cnb(11)=cos(henggun)*cos(hangxiang)-sin(henggun)*sin(fuyang)*sin(hangxiang);
cnb(12)=-cos(henggun)*sin(hangxiang)+cos(hangxiang)*sin(fuyang)*sin(henggun);
cnb(13)=-cos(fuyang)*sin(henggun);
cnb(21)=sin(hangxiang)*cos(fuyang);
cnb(22)=cos(hangxiang)*cos(fuyang);
cnb(23)=sin(fuyang);
cnb(31)=cos(hangxiang)*sin(henggun)-sin(hangxiang)*sin(fuyang)*cos(henggun);
cnb(32)=-sin(hangxiang)*sin(henggun)-cos

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????87600??2007-05-24?14:44??程序\sage-husa?組合\GPS.dat

?????文件???????9827??2013-03-04?16:46??程序\sage-husa?組合\husagps.asv

?????文件??????10233??2013-03-29?15:52??程序\sage-husa?組合\husagps.m

?????文件????8870033??2007-05-24?15:59??程序\sage-husa?組合\IMU.dat

?????文件??????87600??2007-05-24?14:44??程序\sins?gps常規(guī)卡爾曼組合\GPS.dat

?????文件????8870033??2007-05-24?15:59??程序\sins?gps常規(guī)卡爾曼組合\IMU.dat

?????文件??????11906??2013-03-10?22:03??程序\sins?gps常規(guī)卡爾曼組合\sins1gps.asv

?????文件??????11992??2013-03-13?10:13??程序\sins?gps常規(guī)卡爾曼組合\sins1gps.m

?????文件????????211??2008-03-22?19:49??程序\sins+dvl?常規(guī)卡爾曼\basefun\a2caw.m

?????文件????????297??2008-02-21?18:56??程序\sins+dvl?常規(guī)卡爾曼\basefun\a2cnb.m

?????文件????????193??2008-03-22?19:50??程序\sins+dvl?常規(guī)卡爾曼\basefun\a2cwa.m

?????文件?????????55??2008-02-21?18:57??程序\sins+dvl?常規(guī)卡爾曼\basefun\a2qnb.m

?????文件???????1235??2011-06-05?22:24??程序\sins+dvl?常規(guī)卡爾曼\basefun\align_i0.m

?????文件????????131??2008-02-25?16:05??程序\sins+dvl?常規(guī)卡爾曼\basefun\askew.m

?????文件????????482??2007-11-25?20:17??程序\sins+dvl?常規(guī)卡爾曼\basefun\cnscl.m

?????文件????????939??2011-06-03?20:30??程序\sins+dvl?常規(guī)卡爾曼\basefun\compassCmd.m

?????文件????????554??2009-06-05?11:08??程序\sins+dvl?常規(guī)卡爾曼\basefun\compasskxyz.m

?????文件????????365??2011-06-02?21:06??程序\sins+dvl?常規(guī)卡爾曼\basefun\DR.m

?????文件????????947??2011-06-04?18:45??程序\sins+dvl?常規(guī)卡爾曼\basefun\drift.m

?????文件????????444??2010-05-25?10:04??程序\sins+dvl?常規(guī)卡爾曼\basefun\dv2atti.m

?????文件????????595??2009-06-18?23:04??程序\sins+dvl?常規(guī)卡爾曼\basefun\earth.m

?????文件???????1143??2009-06-04?17:09??程序\sins+dvl?常規(guī)卡爾曼\basefun\getf.m

?????文件???????1285??2011-06-06?17:44??程序\sins+dvl?常規(guī)卡爾曼\basefun\getf_DR.m

?????文件???????1500??2010-12-30?15:07??程序\sins+dvl?常規(guī)卡爾曼\basefun\glvs.m

?????文件????????511??2011-06-06?21:13??程序\sins+dvl?常規(guī)卡爾曼\basefun\ImuAddErr.m

?????文件????????229??2011-06-03?10:39??程序\sins+dvl?常規(guī)卡爾曼\basefun\ImuStatic.m

?????文件????????556??2011-03-26?10:38??程序\sins+dvl?常規(guī)卡爾曼\basefun\kalman.m

?????文件????????683??2008-03-24?16:54??程序\sins+dvl?常規(guī)卡爾曼\basefun\kfdis.m

?????文件????????347??2009-02-11?11:08??程序\sins+dvl?常規(guī)卡爾曼\basefun\large_phi_model.m

?????文件????????138??2008-02-21?18:30??程序\sins+dvl?常規(guī)卡爾曼\basefun\m2att.m

............此處省略91個文件信息

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