1、f27=-w*sin(l0)f31=w*cos(l0)f32=vv(2)f34=1/(rm+h(t)f37=w*cos(l0)*sec(l0)2;f42=-fp(3)f43=fp(2)f44=vv(2)-vv(3)f45=2*w*sin(l0)f46=-(2*w*cos(l0)f47=2*w*cos(l0)*vv(2)2+2*w*sin(l0)*vv(3)f51=fp(3)f53=-fp(1)f54=-2*(w*sin(l0)f55=-vv(3)f56=-vv(2)f57=-(2*w*cos(l0)2)*vv(1)f61=-fp(2)f62=fp(1)f64=2*(w*cos(l0)f65=2
2、*vv(2)f67=-2*vv(1)*w*sin(l0)f75=1/(rn+h(t)f84=sec(l0)f87=vv(1)f96=1;FN=0,f12,f13,0,f15,f21,f23,f24,f27,f31,f32,f34,f37,f42,f43,f44,f45,f46,f47,f51,f53,f54,f55,f56,f57,f61,f62,f64,f65,f67,f75,f84,f87,f96,0;FS=-T,zeros(3,3)3),T;FM=zeros(6,6)G=T,9)T,zeros(9,eye(9,9%15*15噪声W=wex,wey,wez,wdx,wdy,wdz,zero
3、s(1,%we,wd分别为陀螺加速度计的随机误差。%F=FN,FS;zeros(6,FM;%15*15状态转移阵PHI=eye(15,15)+F*Tc;%15*15状态转移阵的离散化TA=Tc*(eye(15,+*F*Tc)*G;%15*15噪声驱动阵H=eye(3,12)eye(3,%量测矩阵M=0,cos(yaw)-cos(yy)*sin(yaw)sin(yaw)cos(yy)*cos(yaw)-1,%M转换阵实现由姿态偏差到平台误差的转换%设置好循环周期进行滤波ifmod(t,mc)=0%由于CNS与SINS周期有差异,故进行定期滤波。20倍的关系。dangle=yy-angle2(1,
4、tc)*pi/180;yaw-angle2(2,roll-angle2(3,*pi/180%姿态偏差0dfai=M*dangle;%平台误差角dp=l0-R1(1,a0-R1(2,h(t)-R1(3,%位置偏差经纬高%量测噪声dz=star*randn(1)star*randn(1)star1*randn(1)star2*randn(1)%观测量Z=dfai;dp+dz;%量测方程%五个滤波公式XK=PHI*X;%滤波公式(1)PK=PHI*P*PHI+TA*QF*TA%滤波公式(2)KK=PK*H*inv(H*PK*H+RF)%滤波公式(3)X=XK+KK*(Z-H*XK)%滤波公式(4)P
5、=(eye(15,-KK*H)*PK;%滤波公式(5)tc=tc+1;%else%X=PHI*X;dfai2=inv(M)*X(1)X(2)X(3)%滤波后平台误差角到姿态的转换。yyy=yy-dfai2(1)%姿态修正yaww=yaw-dfai2(2)rolll=roll-dfai2(3)l00=l0-X(7)%X8代表纬度,X7代表经度,l0为经度%位置修正a00=a0-X(8)%滤波后vv1=vv-X(4)X(5)X(6)%速度修正cv1=cv1,vv1;%标准cv=cv,Vet_tt(:t)cv2=cv2,cvv(:%解算l5=l5,l00;a5=a5,a00;theta5=theta
6、5,yyy;%俯仰psi5=psi5,yaww;%偏航gamma5=gamma5,rolll;%滚转theta4=theta4,theta2(t)psi4=psi4,psi2(t)gamma4=gamma4,gamma2(t)l4=l4,l2(t)a4=a4,a2(t)l6=l6,lambdaa(t)a6=a6,phii(t)theta6=theta6,thetaa(t)psi6=psi6,psii(t)gamma6=gamma6,gammaa(t)endt=t+1;%part3;Untitled3%part4t=0:0.4:400-0.4;figure;plot(t,cv(1,:-cv1(1,gridon;xlabel(时间/秒ylabel(东向速度误差米/秒cv(2,-cv1(2,北向速度误差米/秒cv(3,-cv1(3,天向速度误差米/秒%原始-cv2(1,-cv2(2,-cv2(3,
copyright@ 2008-2022 冰豆网网站版权所有
经营许可证编号:鄂ICP备2022015515号-1