Use matlab to write the code of INS/DVL calibration algorithm

最新推荐文章于 2024-09-12 08:45:24 发布

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最新推荐文章于 2024-09-12 08:45:24 发布

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该代码示例展示了如何在MATLAB中使用卡尔曼滤波器对惯性导航系统(INS)和声纳测速仪(DVL)的偏差进行校准。通过定义初始偏差、测量协方差矩阵、过程噪声协方差矩阵以及状态转移矩阵，算法在每个时间步长更新INS和DVL的偏差估计。

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Use matlab to write the code of INS/DVL calibration algorithm

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