// 单位转换函数转载于陈凯老师,十分感谢!
由于之前采用的数据集和实际采集的数据给出的零偏啊、噪声啊等等的单位都不一样,同时也不熟悉什么频谱密度单位(这也提醒我该去多看看),因此在这方面花了很多时间还搞不清楚,还好在朋友帮助下得到了这个函数,解决了设置P和Q的单位转换问题!记录于此,避免忘记,同时也供大家参考。
该函数来自陈凯老师,(matlab)函数名为:
unitConvert.m
函数内已经写的很详细了,我就复制粘贴了:
clc
clear
D2R=pi/180;
G0 =9.7803267714; %/* gravity */
DPH =D2R/3600; %/* deg/h -> rad/s */
MG =1e-3*G0; %/* mg -> m/s^2 */
UG =1e-6*G0; %/* ug -> m/s^2 */
DPSH =D2R/sqrt(3600); %/* deg/sqrt(h) -> rad/sqrt(s) */
UGPSHZ =UG/sqrt(1); %/* ug/sqrt(Hz) -> m/s/sqrt(s) */
DPHPSH =DPH/sqrt(3600); %/* deg/h -> rad/s/sqrt(s) */
UGPSH =UG/sqrt(3600); %/* ug -> m/s^2/sqrt(s) */
PPM =1e6;
gyro_ARW = [0.08,0.08,0.08]; % gyro ARW (unit:deg/sqrt(h))
acce_VRW = [100,100,100]; % acce VRW (unit:μg/sqrt(Hz))
gb_insta = [1.2,1.2,1.2]; % gyro bias instability (unit:deg/h)
ab_insta = [24,24,24]; % acce bias instability (unit:μg)
gyro_ARW=gyro_ARW.*DPSH; %/* deg/sqrt(h) -> rad/sqrt(s) */
acce_VRW=acce_VRW.*UGPSHZ; %/* ug/sqrt(Hz) -> m/s/sqrt(s) */
gb_insta=gb_insta.*DPHPSH; %/* deg/h -> rad/s/sqrt(s) */
ab_insta=ab_insta.*UGPSH; %/* ug -> m/s^2/sqrt(s) */
%STD->VAR
gyro_ARW=gyro_ARW.*gyro_ARW;
acce_VRW=acce_VRW.*acce_VRW;
gb_insta=gb_insta.*gb_insta;
ab_insta=ab_insta.*ab_insta;
要加入自己代码得自己改改。