DVL/INS标定

question:

Here is an example of an INS/DVL calibration algorithm implemented in MATLAB:

% Define the initial values for the INS and DVL biases
b_ins = [0 0 0]';
b_dvl = [0 0 0]';

% Define the measurement covariance matrices
R_ins = eye(3);
R_dvl = eye(3);

% Define the process noise covariance matrix
Q = eye(3);

% Define the measurement vector and its corresponding measurement
% model in the update step
z = zeros(3, 1);
h = zeros(3, 1);

% Define the Kalman gain
K = zeros(3, 3);

% Define the state transition matrix
F = eye(3);

% Define the time step
dt = 1;

% Loop through the measurements and update the biases at each time step
for i = 1:num_measurements
    % Predict the state
    b_ins = F * b_ins;
    b_dvl = F * b_dvl;
    
    % Compute the measurement model
    h = b_ins - b_dvl;
    
    % Compute the Kalman gain
    K = P_ins * h' * inv(h * P_ins * h' + R_dvl);
    
    % Update the estimate of the biases
    b_ins = b_ins + K * (z(:, i) - h);
    b_dvl = b_dvl - K * h;
    
    % Update the covariance matrix
    P_ins = (eye(3) - K * h) * P_ins * (eye(3) - K * h)' + K * R_dvl * K';
end

This code is a basic implementation of an extended Kalman filter for INS/DVL calibration. It uses a state transition matrix F to predict the INS and DVL biases b_ins and b_dvl at each time step, and uses the Kalman gain K to correct the estimate of the biases based on the measurement z and its corresponding measurement model h. The measurement covariance mat