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⛄ 内容介绍
在国防军工和航空航天等领域,目前的卫星接收机技术在面对高动态飞行器和低信噪比环境时,不能满足工程应用的需求并出现了瓶颈.为此,研究和开发超紧组合导航技术成为了突破这一瓶颈的有效途径之一.在超紧组合技术研究中,运用惯导信息对载波环路进行辅助的算法是其重要的组成部分,针对GPS接收机在低信噪比和高动态应用场合的需求,论文开展了运用IMU加速度,速度信息来辅助载波环路跟踪的研究，本文实现基于matlab实现GPS+IMU数据融合。
⛄ 部分代码
function [qua_n, DCMbn_n, euler] = att_update(wb, DCMbn, qua, omega_ie_N, omega_en_N, dt, att_mode)
% att_update: updates attitude using quaternion or DCM.
%
% INPUT:
% wb, 3x1 incremental turn-rates in body-frame (rad/s).
% DCMbn, 3x3 body-to-nav DCM.
% qua, 4x1 quaternion.
% omega_ie_N, 3x1 Earth rate (rad/s).
% omega_en_N, 3x1 Transport rate (rad/s).
% dt, 1x1 INS time period (s).
% att_mode, attitude mode string.
% 'quaternion': attitude updated in quaternion format. Default value.
% 'dcm': attitude updated in Direct Cosine Matrix format.
%
% OUTPUT:
% qua_n, 4x1 updated quaternion.
% DCMbn_n, 3x3 updated body-to-nav DCM.
% euler, 3x1 updated Euler angles (rad).
%
% Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
%
% This file is part of NaveGo, an open-source MATLAB toolbox for
% simulation of integrated navigation systems.
%
% NaveGo is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License (LGPL)
% version 3 as published by the Free Software Foundation.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public
% License along with this program. If not, see
% <http://www.gnu.org/licenses/>.
%
% Reference:
% Crassidis, J.L. and Junkins, J.L. (2011). Optimal Esti-
% mation of Dynamic Systems, 2nd Ed. Chapman and Hall/CRC, USA.
% Eq. 7.39, p. 458.
%
% Version: 003
% Date: 2016/11/26
% Author: Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL: https://github.com/rodralez/navego
if nargin < 7, att_mode = 'quaternion'; end
%% Correct gyros output for Earth rate and Transport rate
wb_n = ( wb - DCMbn' * (omega_ie_N + omega_en_N));
if strcmp(att_mode, 'quaternion')
%% Quaternion update
qua_n = qua_update(qua, wb_n, dt); % Update quaternion
qua_n = qua_n / norm(qua_n); % Brute-force normalization
DCMbn_n = qua2dcm(qua_n); % Update DCM
euler = qua2euler(qua_n); % Update Euler angles
elseif strcmp(att_mode, 'dcm')
%% DCM update
euler_i = wb_n * dt; % Incremental Euler angles
DCMbn_n = dcm_update(DCMbn, euler_i); % Update DCM
euler = dcm2euler(DCMbn_n); % Update Euler angles
qua_n = euler2qua(euler); % Update quaternion
qua_n = qua_n / norm(qua_n); % Brute-force normalization
else
error('att_update: no attitude update mode defined.')
end
end
⛄ 运行结果
⛄ 参考文献
- R. Gonzalez, J. Giribet, and H. Patiño. NaveGo: a simulation framework for low-cost integrated navigation systems, Journal of Control Engineering and Applied Informatics, vol. 17, issue 2, pp. 110-120, 2015. Eq. 26.
- Analog Devices. ADIS16400/ADIS16405 datasheet. High Precision Tri-Axis Gyroscope, Accelerometer, Magnetometer. Rev. B. http://www.analog.com/media/en/technical-documentation/data-sheets/ADIS16400_16405.pdf
- Analog Devices. ADIS16488 datasheet. Tactical Grade Ten Degrees of Freedom Inertial Sensor. Rev. G. http://www.analog.com/media/en/technical-documentation/data-sheets/ADIS16488.pdf
- Garmin International, Inc. GPS 18x TECHNICAL SPECIFICATIONS. Revision D. October 2011. http://static.garmin.com/pumac/GPS_18x_Tech_Specs.pdf
