PSINS组合导航工具箱基本概念与函数简介

最新推荐文章于 2025-02-18 16:58:56 发布

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最新推荐文章于 2025-02-18 16:58:56 发布 · 7.2k 阅读

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#组合导航 #惯性导航 #PSINS #惯导

本文详细介绍了PSINS工具箱中的全局变量结构体glv的初始化过程，包括地球参数、惯性坐标系到导航坐标系的转换，以及IMU采样数据的处理、AVP导航参数、误差参数和数据文件的导入与转换。涵盖了姿态阵、四元数、欧拉角等转换函数和实用绘图辅助工具。

文章目录

习惯约定与常用变量符号
导入数据文件与数据提取转换
绘图显示
姿态阵/姿态四元数/欧拉角/等效旋转矢量之间转换

习惯约定与常用变量符号

PSINS全局变量结构体glv（global variable）

运行glvs脚本文件，内部实际调用的是glvf函数，这个函数就是可以初始化全局变量，代码如下：

function glv1 = glvf(Re, f, wie)
% PSINS Toolbox global variable structure initialization.
%
% Prototype: glv = glvf(Re, f, wie)
% Inputs: Re - the Earth's semi-major axis
%         f - flattening
%         wie - the Earth's angular rate
% Output: glv1 - output global variable structure array
%
% See also  psinsinit.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 14/08/2011, 10/09/2013, 09/03/2014
global glv
    if ~exist('Re', 'var'),  Re = [];  end
    if ~exist('f', 'var'),   f = [];  end
    if ~exist('wie', 'var'), wie = [];  end
    if isempty(Re),  Re = 6378137;  end
    if isempty(f),   f = 1/298.257;  end
    if isempty(wie), wie = 7.2921151467e-5;  end
    glv.Re = Re;                    % the Earth's semi-major axis
    glv.f = f;                      % flattening
    glv.Rp = (1-glv.f)*glv.Re;      % semi-minor axis
    glv.e = sqrt(2*glv.f-glv.f^2); glv.e2 = glv.e^2; % 1st eccentricity
    glv.ep = sqrt(glv.Re^2-glv.Rp^2)/glv.Rp; glv.ep2 = glv.ep^2; % 2nd eccentricity
    glv.wie = wie;                  % the Earth's angular rate
    glv.meru = glv.wie/1000;        % milli earth rate unit
    glv.g0 = 9.7803267714;          % gravitational force
    glv.mg = 1.0e-3*glv.g0;         % milli g
    glv.ug = 1.0e-6*glv.g0;         % micro g
    glv.mGal = 1.0e-3*0.01;         % milli Gal = 1cm/s^2 ~= 1.0E-6*g0
    glv.uGal = glv.mGal/1000;       % micro Gal
    glv.ugpg2 = glv.ug/glv.g0^2;    % ug/g^2
    glv.ws = 1/sqrt(glv.Re/glv.g0); % Schuler frequency
    glv.ppm = 1.0e-6;               % parts per million
    glv.deg = pi/180;               % arcdeg
    glv.min = glv.deg/60;           % arcmin
    glv.sec = glv.min/60;           % arcsec
    glv.mas = glv.sec/1000;         % milli arcsec
    glv.hur = 3600;                 % time hour (1hur=3600second)
    glv.dps = pi/180/1;             % arcdeg / second
    glv.rps = 360*glv.dps;          % revolutions per second
    glv.dph = glv.deg/glv.hur;      % arcdeg / hour
    glv.dpss = glv.deg/sqrt(1);     % arcdeg / sqrt(second)
    glv.dpsh = glv.deg/sqrt(glv.hur);  % arcdeg / sqrt(hour)
    glv.dphpsh = glv.dph/sqrt(glv.hur); % (arcdeg/hour) / sqrt(hour)
    glv.dph2 = glv.dph/glv.hur;    % (arcdeg/hour) / hour
    glv.Hz = 1/1;                   % Hertz
    glv.dphpsHz = glv.dph/glv.Hz;   % (arcdeg/hour) / sqrt(Hz)
    glv.dphpg = glv.dph/glv.g0;     % (arcdeg/hour)