%
%?Evaluates?effect?of?gimbal?INS?accelerometer?biases?on?nav?error
%?with?and?without?carouseling
%
clear?all;
close?all;
OmegaEarth???=?7292115167e-14;?%WGS84?model
OmegaSchuler?=?2*pi/84.4/60;
DeltaT???????=?1;?%?intersample?interval
phi??????????=?pi/4;?%?latitude
AlphaDot?????=?2*pi/5/60;?%?five?minute?carousel?period
DeltaAlpha???=?DeltaT*AlphaDot;
%
%?dynamic?coefficient?matrix?and?state?transition?matrix
%
F?=?[0?0?1?0;?0?0?0?1;?-OmegaSchuler^2?0?0?2*OmegaEarth*sin（phi）;?0?-OmegaSchuler^2?-2*OmegaEarth*sin（phi）?0];
Phi?=?expm（DeltaT*F）;
%
%?North?accelerometer?bias?=?10?micro-g?
%
MicroGbias?=?10;
b0?=?[0;9.8*MicroGbias*1e-6];
%
%?Initial?errors?=?0
%
x0?????=?zeros（41）;?%?Gimbaled?ENU?IMU
xC?????=?zeros（41）;?%?Carouseled?IMU
Alpha??=?0;
%
%
%
hours?=?14;
E0（1）?=?x0（1）;
N0（1）?=?x0（2）;
EC（1）?=?xC（1）;
NC（1）?=?xC（2）;
Time（1）?=?0;
k?=?1;
for?t=DeltaT:DeltaT:hours*3600;
????k?=?k?+?1;
????Time（k）?=?t;
????Alpha???=?Alpha?+?DeltaAlpha;
????if?Alpha?>?pi
????????Alpha?-?Alpha?-?2*pi;
????end;
????cA??????=?cos（Alpha）;
????sA??????=?sin（Alpha）;
????RM??????=?[cAsA;-sAcA];
????bC??????=?RM*b0;
????x0??????=?Phi*x0?+?[zeros（21）;b0*DeltaT];
????xC??????=?Phi*xC?+?[zeros（21）;bC*DeltaT];
????E0（k）???=?x0（1）;
????N0（k）???=?x0（2）;
????EC（k）???=?xC（1）;
????NC（k）???=?xC（2）;
end;
figure;
plot（E0N0‘r-‘ECNC‘b-‘）;
title（[num2str（hours）‘?hours?simulated?gimbaled?INS?errors?from?‘num2str（MicroGbias）‘?micro-g?N?acc.?bias‘]）;
xlabel（‘East?position?error?[meter]‘）;
ylabel（‘North?position?error?[meter]‘）;
axis?equal;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2011-02-17?09:35??Software\
?????文件??????476145??1998-11-06?22:38??Software\98110604.GPS
?????文件??????370561??1998-11-25?00:05??Software\98110901.txt
?????文件????????1614??2006-04-06?15:24??Software\AccBiasCarousel.m
?????文件????????4689??1998-11-25?19:41??Software\alma.dat
?????文件????????1582??2000-05-08?02:33??Software\BIERMAN.M
?????文件???????11385??2006-03-24?00:22??Software\BortzF.m
?????文件???????17604??2006-03-23?22:26??Software\BortzH1.m
?????文件????????4971??2006-03-23?22:29??Software\BortzH2.m
?????文件????????1071??2000-03-29?17:46??Software\calcH.m
?????文件????????1448??2000-05-08?02:33??Software\CARLSON.M
?????文件????????1011??2000-03-29?18:16??Software\choose_sat.m
?????文件????????2006??2005-07-13?19:22??Software\coning0.m
?????文件????????5742??2005-07-15?00:18??Software\ConingIllustration.m
?????文件????????1171??2006-04-04?03:58??Software\ConingMovie.m
?????文件????????6511??2006-05-06?00:44??Software\CoordTurn.m
?????文件????????2448??2006-05-06?16:22??Software\CoordTurnTest.m
?????文件?????????690??2000-03-29?17:55??Software\covar.m
?????文件?????????304??2005-09-23?01:05??Software\CTMat2Euler.m
?????文件????????2921??2005-08-31?08:07??Software\CTMat2Quat.m
?????文件????????2675??2005-08-20?16:20??Software\CTMat2RotVec.m
?????文件????????1347??2005-08-20?21:20??Software\CTRVtest2.m
?????文件????????4861??2006-03-16?01:50??Software\Damp2eval.m
?????文件?????????961??2006-04-22?03:26??Software\Damp2Params.m
?????文件????????1548??2006-04-23?07:42??Software\DAMP3Params.m
?????文件????????1718??2006-04-22?03:28??Software\DAMP3ParamTest.m
?????文件????????4962??2006-05-03?06:59??Software\DAMP3sim.m
?????文件?????????538??2000-06-21?10:28??Software\dharmosc.m
?????文件????????4952??2001-05-04?20:14??Software\ephemeris.m
?????文件?????????815??2005-09-23?01:23??Software\Euler2CTMat.m
?????文件?????????853??2006-04-04?03:55??Software\fBortz.m
............此處省略75個文件信息