• 大小: 820KB
    文件类型: .rar
    金币: 1
    下载: 0 次
    发布日期: 2021-06-08
  • 语言: Matlab
  • 标签: 轨迹生成  

资源简介

这是借助于惯性传感器的一个轨迹matlab仿真程序,读入的是实验测得的处理后的txt文本,,文件1 2 3 静止时测量的惯导初始位置和姿态。文件4 5 6 旋转时测量的惯性导航对震动的敏感测量。

资源截图

代码片段和文件信息

 clear ;
close all;
%--------------------------------------------------------------------------
%******************************KF跟踪算法仿真*******************************
%--------------------------------------------------------------------------

T=0.1;
rat=100;
atti_rat=200;
data_num=2000;
data_num1=2000;
N=data_num/10;
N1=data_num1/10;
R=zeros(66N);%生成6*6的0矩阵,共N个,N=200
RR=zeros(66N);
F=[1 0 0 T 0 0 ;
   0 1 0 0 T 0 ;
   0 0 1 0 0 T ;
   0 0 0 1 0 0 ;
   0 0 0 0 1 0 ;
   0 0 0 0 0 1];
 J=[1 0 0 0 0 0;
    0 1 0 0 0 0;
    0 0 1 0 0 0;
    0 0 0 1 0 0;
    0 0 0 0 1 0;
    0 0 0 0 0 1];
G=[1/2*T^2 0 0;
    0 1/2*T^2 0;
    0 0 1/2*T^2;
    T    0  0;
    0    T  0;
    0    0  T];

x=zeros(61N+1);%状态真实值X(k)
xcan=zeros(61N+1);%状态真实值X(k)

%%%%%%%%%%锚节点坐标%%%%%%%%%%%%%%%%%%%%%%%%%
%初始化 X(1)
 x(::1)=[0 0 0 0.5 0 0]‘;
xcan(::1)=[0 0 0 0.5 0 0]‘;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%以下是路径产生%%%%%%%%%%%%%%%%%%%
fid1=fopen(‘实验测试数据\1.txt‘‘r‘);%打开文件,并读
[titlecount]=fscanf(fid1‘%6x‘[6data_num1]);%打开文件读取数据,6行data_num1列
tt1=title‘;
status=fclose(fid1);
fid2=fopen(‘实验测试数据\5.txt‘‘r‘);
[titlecount]=fscanf(fid2‘%6x‘[6data_num]);
tt2=title‘;
status=fclose(fid2);
%%%%%%%%%%%%%%%%%%%%%%%%%%%参考数据处理%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
acex1=tt1(:4);%y=x(:i)的作用就就是把矩阵x的第i列取出来赋值到y里面,那么得到的y就是一个列向量
acey1=tt1(:5);
acez1=tt1(:6);
attix1=tt1(:1);
attiy1=tt1(:2);
attiz1=tt1(:3);
for i=1:data_num1
    if acex1(i)>1000
        acex1(i)=acex1(i)-16383;
    end
    if acey1(i)>1000
        acey1(i)=acey1(i)-16383;
    end
    if acez1(i)>1000
        acez1(i)=acez1(i)-16383;
    end
    if attix1(i)>1000
        attix1(i)=attix1(i)-16383;
    end
    if attiy1(i)>1000
        attiy1(i)=attiy1(i)-16383;
    end
    if attiz1(i)>1000
        attiz1(i)=attiz1(i)-16383;
    end
    if mod(i10)==0%求余函数
        acex11(floor(i/10))=acex1(i);
        acey11(floor(i/10))=acey1(i);
        acez11(floor(i/10))=acez1(i);
        attix11(floor(i/10))=attix1(i);
        attiy11(floor(i/10))=attiy1(i);
        attiz11(floor(i/10))=attiz1(i);
    end
end
acexmean1=mean(acex11)/rat;%平均数
aceymean1=mean(acey11)/rat;
acezmean1=mean(acez11)/rat;
attixmean1=mean(attix11)/atti_rat;
attiymean1=mean(attiy11)/atti_rat;
attizmean1=mean(attiz11)/atti_rat;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%姿态矩阵
% xx=attixmean1;
% yy=attiymean1;
% zz=attizmean1;

% Cbn=[cos(zz)*cos(xx)+sin(zz)*sin(xx)*sin(yy) -cos(zz)*sin(xx)+sin(zz)*cos(xx)*sin(yy) -sin(zz)*cos(yy);
%        sin(xx)*cos(yy)                             cos(xx)*cos(yy)                      sin(yy)       ;
%      sin(zz)*cos(xx)-cos(zz)*sin(xx)*sin(yy) -sin(zz)*sin(xx)-cos(zz)*cos(xx)*sin(yy) cos(zz)*cos(yy)];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%参考数据处理完毕%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%测试数据处理%%%%%%%%%%%%%%%%%%%%%%
acex2=tt2(:4);
ace

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件      15751  2018-03-15 10:15  轨迹生成\INSshiyan6.m

     文件        209  2015-03-30 10:11  轨迹生成\location_create.m

     文件        169  2018-03-14 17:09  轨迹生成\Untitled.m

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\1.TXT

     文件     226630  2015-03-30 10:11  轨迹生成\实验测试数据\10.TXT

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\2.TXT

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\3.TXT

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\4.TXT

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\5.TXT

     文件      74232  2015-03-30 10:11  轨迹生成\实验测试数据\6.TXT

     文件     222195  2015-03-30 10:11  轨迹生成\实验测试数据\7.TXT

     文件     219852  2015-03-30 10:11  轨迹生成\实验测试数据\8.TXT

     文件     226630  2015-03-30 10:11  轨迹生成\实验测试数据\9.TXT

     文件        368  2015-03-30 10:11  轨迹生成\实验测试数据\数据说明.txt

     文件      75506  2014-01-13 11:18  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-18-41.TXT

     文件      75566  2014-01-13 11:19  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-19-24.TXT

     文件      75626  2014-01-13 11:20  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-20-03.TXT

     文件      75626  2014-01-13 11:27  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-27-17.TXT

     文件      75626  2014-01-13 11:27  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-27-50.TXT

     文件      75567  2014-01-13 11:28  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-28-28.TXT

     文件     226578  2014-01-13 11:30  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-30-10.TXT

     文件     224323  2014-01-13 11:41  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-41-28.TXT

     文件     226630  2014-01-13 11:52  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_11-52-47.TXT

     文件     226630  2014-01-13 12:12  轨迹生成\实验测试数据\源文件\SAVE2014-01-13_12-12-37.TXT

     文件     283327  2015-03-30 10:11  轨迹生成\实验测试数据\源文件.rar

     目录          0  2018-03-04 15:09  轨迹生成\实验测试数据\源文件

     目录          0  2018-03-04 15:09  轨迹生成\实验测试数据

     目录          0  2018-03-14 17:10  轨迹生成

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              2998201                    28

............此处省略1个文件信息

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