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exp4

于 2021-03-25 发布
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说明：  把激光陀螺捷联惯导系统和GNSS接收机固联于实验车实验仓中，接收机天线固联在实验车实验仓上方，车载计算机实时接收和采集惯导系统、卫星导航接收机的原始数据，在郊外开阔公路进行车载实验。 通过matlab编程实现卫星导航伪距单点定位、INS/GPS松组合导航的全过程。 1）卫星导航单点定位测速：利用采集得到的接收机时间、伪距、多普勒频移数据，要求进行单点定位、测速解算，输出接收机的位置、速度随时间的变化曲线，并给出位置、速度误差曲线； 2）松组合导航：结合惯导解算和卫星接收机单点定位测速，要求采用Kalman滤波器实现惯导/卫星位置、速度组合导航解算，滤波器维数至少包括惯导的位置、速度、姿态角9维。将组合导航后的姿态角与纯惯导的姿态角进行对比分析，给出位置、速度误差曲线。(The laser gyro strapdown inertial navigation system and GNSS receiver are fixed in the experimental compartment of the experimental vehicle. The antenna of the receiver is fixed above the experimental compartment of the experimental vehicle. The on-board computer receives and collects the original data of the inertial navigation system and satellite navigation receiver in real time, and carries out on-board experiments on the suburban open highway.)

文件列表：

exp4, 0 , 2018-07-28
exp4\九状态卡尔曼滤波, 0 , 2018-07-28
exp4\九状态卡尔曼滤波\check_t.m, 292 , 2018-06-20
exp4\九状态卡尔曼滤波\coarse_align.m, 751 , 2018-06-09
exp4\九状态卡尔曼滤波\data_gps.mat, 33964 , 2018-06-27
exp4\九状态卡尔曼滤波\dcm2eul.m, 274 , 2018-06-09
exp4\九状态卡尔曼滤波\dcm2qua.m, 241 , 2018-06-09
exp4\九状态卡尔曼滤波\eph_temp.dat, 4826 , 2018-07-28
exp4\九状态卡尔曼滤波\eul2dcm.m, 489 , 2018-06-09
exp4\九状态卡尔曼滤波\eul2qua.m, 439 , 2018-06-09
exp4\九状态卡尔曼滤波\eulr2qua.M, 1475 , 2006-05-25
exp4\九状态卡尔曼滤波\e_r_corr.m, 469 , 1996-11-26
exp4\九状态卡尔曼滤波\gnss.m, 2820 , 2018-07-09
exp4\九状态卡尔曼滤波\initpara.m, 766 , 2018-07-03
exp4\九状态卡尔曼滤波\ins_navi.m, 1367 , 2018-06-12
exp4\九状态卡尔曼滤波\KF_correct.m, 1533 , 2018-06-27
exp4\九状态卡尔曼滤波\KF_correct_gps.m, 1557 , 2018-07-03
exp4\九状态卡尔曼滤波\KF_correct_gps_9.m, 2669 , 2018-07-03
exp4\九状态卡尔曼滤波\main_ins_gps.m, 2545 , 2018-07-28
exp4\九状态卡尔曼滤波\pre_data.m, 528 , 2018-06-27
exp4\九状态卡尔曼滤波\qua2dcm.m, 310 , 2018-06-09
exp4\九状态卡尔曼滤波\qua_multiply.m, 225 , 2018-06-09
exp4\九状态卡尔曼滤波\readme.txt, 1532 , 2018-06-21
exp4\九状态卡尔曼滤波\rover3.dat, 320490 , 2008-12-03
exp4\九状态卡尔曼滤波\rover_eph3.dat, 5052 , 2006-06-10
exp4\九状态卡尔曼滤波\rover_ref.txt, 221938 , 2008-12-03
exp4\九状态卡尔曼滤波\samp_eph.m, 2974 , 2018-06-29
exp4\九状态卡尔曼滤波\SatPosVelCalculation.m, 4366 , 2018-06-29
exp4\九状态卡尔曼滤波\togeod.m, 2217 , 2005-03-23
exp4\九状态卡尔曼滤波\topocent.m, 1048 , 2005-03-23
exp4\九状态卡尔曼滤波\tropo.m, 2345 , 1997-09-26
exp4\九状态卡尔曼滤波\同步时刻.txt, 35 , 2006-04-08
exp4\五状态卡尔曼滤波, 0 , 2018-07-28
exp4\五状态卡尔曼滤波\calGPS.m, 3248 , 2018-06-29
exp4\五状态卡尔曼滤波\check_t.m, 292 , 2018-06-20
exp4\五状态卡尔曼滤波\coarse_align.m, 751 , 2018-06-09
exp4\五状态卡尔曼滤波\data_gps.mat, 33964 , 2018-06-27
exp4\五状态卡尔曼滤波\dcm2eul.m, 274 , 2018-06-09
exp4\五状态卡尔曼滤波\dcm2qua.m, 241 , 2018-06-09
exp4\五状态卡尔曼滤波\eph_temp.dat, 4826 , 2018-07-28
exp4\五状态卡尔曼滤波\eul2dcm.m, 489 , 2018-06-09
exp4\五状态卡尔曼滤波\eul2qua.m, 439 , 2018-06-09
exp4\五状态卡尔曼滤波\eulr2qua.M, 1475 , 2006-05-25
exp4\五状态卡尔曼滤波\e_r_corr.m, 469 , 1996-11-26
exp4\五状态卡尔曼滤波\gnss.m, 2820 , 2018-07-09
exp4\五状态卡尔曼滤波\initpara.m, 901 , 2018-06-19
exp4\五状态卡尔曼滤波\ins_navi.m, 1367 , 2018-06-12
exp4\五状态卡尔曼滤波\KF_correct.m, 1533 , 2018-06-27
exp4\五状态卡尔曼滤波\KF_correct_gps.m, 1553 , 2018-06-29
exp4\五状态卡尔曼滤波\main_ins_gps.m, 3986 , 2018-07-28
exp4\五状态卡尔曼滤波\pre_data.m, 528 , 2018-06-27
exp4\五状态卡尔曼滤波\qua2dcm.m, 310 , 2018-06-09
exp4\五状态卡尔曼滤波\qua_multiply.m, 225 , 2018-06-09
exp4\五状态卡尔曼滤波\readme.txt, 1532 , 2018-06-21
exp4\五状态卡尔曼滤波\rover3.dat, 320490 , 2008-12-03
exp4\五状态卡尔曼滤波\rover_eph3.dat, 5052 , 2006-06-10
exp4\五状态卡尔曼滤波\rover_ref.txt, 221938 , 2008-12-03
exp4\五状态卡尔曼滤波\samp_eph.m, 2974 , 2018-06-29
exp4\五状态卡尔曼滤波\SatPosVelCalculation.m, 4366 , 2018-06-29
exp4\五状态卡尔曼滤波\togeod.m, 2217 , 2005-03-23
exp4\五状态卡尔曼滤波\topocent.m, 1048 , 2005-03-23
exp4\五状态卡尔曼滤波\tropo.m, 2345 , 1997-09-26
exp4\五状态卡尔曼滤波\同步时刻.txt, 35 , 2006-04-08

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