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資源簡介

原始數據為嚴恭敏老師stim300。此程序利用Allan方差求解陀螺五個系數,速率斜坡系數(K速率隨機游走系數,B零偏穩定性,N角度隨機游走系數,Q量化噪聲系數)

資源截圖

代碼片段和文件信息

function?[sigma?tau?Err]?=?avar(y0?tau0)
%?Calculate?Allan?variance.
%
%?Prototype:?[sigma?tau?Err]?=?avar(y0?tau0)
%?Inputs:?y?-?data?(gyro?in?deg/hur;?acc?in?g)
%?????????tau0?-?sampling?interval
%?Outputs:?sigma?-?Allan?variance
%??????????tau?-?Allan?variance?correlated?time
%??????????Err?-?Allan?variance?error?boundary

data?=?load(‘stim300.txt‘);
y0?=?data(:1:3);
tau0?=?0.01;
????N?=?length(y0);
????y?=?y0;?NL?=?N;
????for?k?=?1:log2(N)
????????sigma(k1)?=?sqrt(1/(2*(NL-1))*sum((y(2:NL)-y(1:NL-1)).^2));?%?diff&std
????????tau(k1)?=?2^(k-1)*tau0;??????%?correlated?time?相關時間
????????Err(k1)?=?1/sqrt(2*(NL-1));??%?error?boundary
????????NL?=?floor(NL/2);?????????????%floor(X)四舍五入X
????????if?NL<3
????????????break;
????????end
????????y?=?1/2*(y(1:2:2*NL)?+?y(2:2:2*NL));??%?mean?&?half?data?length
????end
????figure;
????subplot(211)
????plot(tau0*(1:N)‘?y0);?grid
????subplot(212)
????loglog(tau?sigma?‘-+‘?tau?[sigma.*(1+Err)sigma.*(1-Err)]?‘r--‘);?grid
????
????p0?=?[1?1?1?1?1];
????p?=?lsqcurvefit(@myfunp0tau(k1)sigma(k1));
????q?=?sqrt(abs(p));
????R?=?q(1)*sqrt(2);%速率斜坡系數
????K?=?q(2)*sqrt(3);%速率隨機游走系數
????B?=?q(3)*(2/3);%零偏穩定性
????N?=?q(4);%角度隨機游走系數
????Q?=?q(5)/sqrt(3);%量化噪聲系數
????xishu?=?[R?K?B?N?Q]‘

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

?????文件???????1334??2018-09-02?09:53??avar.m

?????文件?????????92??2018-09-02?09:56??myfun.m

?????文件????????147??2018-06-18?21:51??stim300\readme.txt

?????文件???63130766??2014-10-31?20:20??stim300\stim300.txt

?????目錄??????????0??2018-07-09?09:16??stim300

-----------?---------??----------?-----??----

?????????????63132339????????????????????5


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