SINS/GNSS组合导航仿真应用详细版(基于PSINS工具箱 )

最新推荐文章于 2026-05-01 12:43:06 发布

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最新推荐文章于 2026-05-01 12:43:06 发布 · 1w 阅读

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#惯性导航 #卫星导航 #PSINS工具箱 #组合导航

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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。

文章目录

轨迹仿真
- 生成轨迹数据
- 绘制仿真数据
惯导仿真
- 纯惯导仿真
- SINS/GPS组合导航
总结
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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