辅助导航GPS与高速传感器（Matlab代码实现）

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📋📋📋本文目录如下：🎁🎁🎁

目录

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码、数据

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💥1 概述

文献来源：

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📚2 运行结果

部分代码：

%% Syncronization data parameters
%  GPS
deltaGPS = 1;
stepGPS = 100;
% IMU
deltaIMU  = 79;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% GPS and IMU data
GPS_data
IMU_data
%% Angle conversion
r2d = 180/pi;
d2r = pi/180;

%% Filter selection
opt = 0;
if opt == 0
    filter =  'Extended Kalman filter'; 
end

%% Plot range
range = 100;

%% Simulation or actual experiment selection
% state = 1 simulation, state = 0  actual
state = 0;
%% System initial conditions
fIMU = 100;                       % Hz
TIMU = 1/fIMU;                    % Sample time [s].

fGPS = 1;                        % Hz
TGPS = 1/fGPS;                    % Sample time [s].

g = -9.81;                        % gravity[m/s^2].
%% Correlation time [s].
%  Rate gyros
tauR(1,1) = 626.8115;
tauR(2,1) = 6468.0515;
tauR(3,1) = 602.5784; 
% Accelerometers
tauA(1,1) = 1438.6558;
tauA(2,1) = 3807.8042;
tauA(3,1) = 1883.8307;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Weighting of the Kalman filter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Variances of the Q matrice
% AHRS - Attitude and heading reference system
varQ1(1,1) = 2;%0.0001;
varQ1(2,1) = 2;%0.0001;

🎉3 参考文献

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Aided Navigation Gps With High Rate Sensors - 百度学术

🌈4 Matlab代码、数据