GNSS/INS组合导航例程

GNSS/INS组合导航例程，包括组合模式，实验结果。

%===========================================================%
%               gnss_ins_filter_config.m                    %
%                                                           %
%   This m-file contains all the conifiguraiton switches    %
%   for the GNSS/INS filter.                                %
%                                                           %
%   Programmer:     Demoz Gebre-Egziabher                   %
%   Created:        March 26 2009                          %
%   Last Modified:  March 26 2009                          %
%                                                           %
%   Copywrite 2009 Demoz Gebre-Egziabher                    %
%   License: BSD see bsd.txt for details                   %
%===========================================================%

%   Define start and stop time in MINUTES for playback.  The
%   data provided is from a flighttest of 14 minutes duration.
%   The variables t_start and t_end must define a time interval 
%   between 0 and 14 minutes.  

t_start = 7;
t_end = 13.5;

%   Configure the Extended Kalman Filter （EKF）

CLOSED_LOOP = 1;        %   If set to 1 a GNSS-aided 
                        %   inertial navigator is simulated.
                        %   If set to 0 the simulation will
                        %   be that of an unaided INS.  
                        
NO_CORIOLIS = 1;        %   If set to 1 coriolis acceleraitons
                        %   are ignored in the time upadate 
                        %   equations. Should be set to 0 when
                        %   using high grade inertial sensors and
                        %   GNSS updates come at a slow rate.
                        
SMALL_PROP_TIME = 1;    %   If set to 1 it means that the time
                        %   between GNSS updates is small and
                        %   thus Schuler dynamics can be
                        %   ignored without much consequence.
                        %   That is the approximation given by
                        %   Equation （6.17） is used for the 
                        %   velocity propagation instead of 
                        %   Equation （6.13）

                                
gnss_update_rate = 1;   %  GNSS measurement update rate in Hz.

%   GPS measurement noise standard deviation

gps_pos_sigma = 3;              %   m （North East Down）
gps_vel_sigma = 0.2;            %   m/s （North East Donw）

%   IMU output error covariance （Table 1 Chapter 6）

sigma_g_d = 0.3*d2r;                % Standard deviation of correlated gyro bias 
tau_g = 300;                        % Correlation time or time constant of b_{gd}
sigma_g_w = 0.95*d2r;               % Standard deviation of gyro output noise

sigma_a_d = （0.5e-3）*g;             % Standard deviation of Accelerometer Markov Bias
tau_a = 300;                        % Correlation time or time constant of b_{ad}
sigma_a_w = 0.12*g;           

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2014-08-19 08:48  GNSS_INS\
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_1\
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\
     文件        1446  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\bsd.txt
     文件     1506894  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\flight_data.mat
     文件        3075  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_config.m
     文件        1263  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_constants.m
     文件        2101  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_data_loader.m
     文件       17188  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_loose_integration.m
     文件        4212  2014-08-19 08:48  GNSS_INS\Case_Study_1\MATLAB\plot_EKF_output.m
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\
     文件        1446  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\bsd.txt
     文件     1506894  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\flight_data.mat
     文件        3075  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_config.m
     文件        1263  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_constants.m
     文件        2262  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_data_loader.m
     文件       17038  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_loose_integration.m
     文件        4212  2014-08-19 08:48  GNSS_INS\Case_Study_1\Octave\plot_EKF_output.m
     文件       12401  2014-08-19 08:48  GNSS_INS\Case_Study_1\readme_case_1.pdf
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_2\
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\
     目录           0  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\New_Data\
     文件      223080  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_A.mat
     文件       74636  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_A_FILTER_ARCHITECTURE_P.mat
     文件      285562  2014-08-21 17:47  GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_B.mat
     文件       76434  2014-08-21 17:47  GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_B_FILTER_ARCHITECTURE_P.mat
     文件        1446  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\bsd.txt
     文件        3114  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\case_study_2_wrapper.m
     文件       13522  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\gen_traj_sensor_data.m
     文件       11803  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\gnss_ins_EKF_2D.m
     文件        5257  2014-08-19 08:48  GNSS_INS\Case_Study_2\MATLAB\plot_EKF_results.m
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