SINS/GNSS组合导航仿真应用详细版(基于PSINS工具箱 )

原创最新推荐文章于 2026-09-14 13:51:00 发布 1w 阅读 AI写同款

十八与她

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Psins代码解析之kalman松组合导航融合算法 test_SINS_GPS_153.m&test_SINS_GPS_186.m&test_SINS_GPS_193.m 框架：设置松组合导航算法中状态量、观测量数目；比如：psinstypedef(153)，状态误差量为15维，量测量为3维；对仿真生成的飞行轨迹(test_SINS_trj.m)，设置IMU误差；并同时对初始AVP参数设置误差；对kalman滤波器的参数进行初始化： % KF filter rk = posseterr([1;1;3]); %位置误差 kf = kfinit(ins, ... 阅读详情

AI摘要

本文介绍了如何通过Matlab进行轨迹仿真，生成并绘制仿真数据，包括惯导纯仿真和SINS/GPS组合导航的步骤。着重讲解了仿真过程中使用的各种技术，如轨迹分段、误差设置及卡尔曼滤波的应用。通过实例展示了高精度导航的误差分析和滤波效果。

轨迹仿真

生成轨迹数据

首先，打开demos\test_trj.m文件，运行仿真生成轨迹。运行后，将轨迹数据存文件并对AVP参数和IMU数据作图。
在这里插入图片描述

% Trajectory generation for later simulation use.
% See also  test_SINS, test_SINS_GPS_153, test_DR.
% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 10/06/2011, 10/02/2014
glvs
ts = 0.1;       % sampling interval
avp0 = [[0;0;0]; [0;0;0]; glv.pos0]; % init avp
% trajectory segment setting
xxx = [];
seg = trjsegment(xxx, 'init',         0);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'accelerate',   10, xxx, 1);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'coturnleft',   45, 2, xxx, 4);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'coturnright',  10*5, 9, xxx, 4);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'climb',        10, 2, xxx, 50);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'descent',      10, 2, xxx, 50);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'deaccelerate', 5,  xxx, 2);
se