更新matlab程序，放入630_1数据集
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ZhiQiang_Yang98
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@ -1,6 +1,6 @@
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% Created by Zhiqiang Yang in 2022/5/20
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function [roll, pitch, head] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, n, IMU_config)
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function [roll, pitch, head, init_bias] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, n, IMU_config)
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% coarse alignment for ins navigation initial with
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% stationaly imu measurement data
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% meas_f_ib_b: Acc measurement data(m/s^2)
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@ -38,14 +38,15 @@ if(num_of_static<=0)
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return;
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end
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for i=1:3
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accl.f_x = accl.f_x/num_of_static;
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accl.f_y = accl.f_y/num_of_static;
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accl.f_z = accl.f_z/num_of_static;
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gyro.w_x = gyro.w_x/num_of_static;
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gyro.w_y = gyro.w_y/num_of_static;
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gyro.w_z = gyro.w_z/num_of_static;
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end
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accl.f_x = accl.f_x/num_of_static;
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accl.f_y = accl.f_y/num_of_static;
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accl.f_z = accl.f_z/num_of_static;
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gyro.w_x = gyro.w_x/num_of_static;
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gyro.w_y = gyro.w_y/num_of_static;
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gyro.w_z = gyro.w_z/num_of_static;
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init_bias = [accl.f_x,accl.f_y,accl.f_z+9.8,gyro.w_x,gyro.w_y,gyro.w_z];
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roll = atan2(-accl.f_y, -accl.f_z);
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pitch = atan(accl.f_x/sqrt(accl.f_y * accl.f_y + accl.f_z * accl.f_z));
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@ -55,7 +55,7 @@ ion_delay = zeros(no_GNSS_meas,1);
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az = zeros(no_GNSS_meas,1);
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el = zeros(no_GNSS_meas,1);
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for i=1:no_GNSS_meas
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delta_r = [GNSSObs.VarName5(i);GNSSObs.VarName6(i);GNSSObs.VarName7(i)] - RecPosi;
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delta_r = [GNSSObs.ecef_X(i);GNSSObs.ecef_Y(i);GNSSObs.ecef_Z(i)] - RecPosi;
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approx_range = sqrt(delta_r' * delta_r);
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% 地球自转
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@ -63,7 +63,7 @@ for i=1:no_GNSS_meas
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-omega_ie * approx_range / c, 1, 0;...
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0, 0, 1];
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delta_r = C_e_I * [GNSSObs.VarName5(i);GNSSObs.VarName6(i);GNSSObs.VarName7(i)] - RecPosi;
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delta_r = C_e_I * [GNSSObs.ecef_X(i);GNSSObs.ecef_Y(i);GNSSObs.ecef_Z(i)] - RecPosi;
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range = sqrt(delta_r' * delta_r);
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u_as_e_T(i,1:3) = delta_r' / range;
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% 对流层误差
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@ -71,22 +71,22 @@ for i=1:no_GNSS_meas
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% 电离层误差
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ion_delay(i) = ionmodel(time, RecPosi, az(i), el(i));
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Sagnac = omega_ie/c*(GNSSObs.VarName9(i)*RecPosi(1)+GNSSObs.VarName6(i)*RecVelo(1)- GNSSObs.VarName8(i)*RecPosi(2)-GNSSObs.VarName5(i)*RecVelo(2));
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range_rate = u_as_e_T(i,1:3) * ([GNSSObs.VarName8(i);GNSSObs.VarName9(i);GNSSObs.VarName10(i)]- RecVelo) + Sagnac;
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Sagnac = omega_ie/c*(GNSSObs.ecef_VY(i)*RecPosi(1)+GNSSObs.ecef_Y(i)*RecVelo(1)- GNSSObs.ecef_VX(i)*RecPosi(2)-GNSSObs.ecef_X(i)*RecVelo(2));
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range_rate = u_as_e_T(i,1:3) * ([GNSSObs.ecef_VX(i);GNSSObs.ecef_VY(i);GNSSObs.ecef_VZ(i)]- RecVelo) + Sagnac;
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if (GNSSObs.VarName1(i)<=32)
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if (GNSSObs.PRN(i)<=32)
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% GPS
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pred_meas(i,1) = range + RecClockUpdate(1) + tro_dalay(i) + ion_delay(i);
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pred_meas(i,2) = range_rate + RecClockUpdate(2);
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elseif(GNSSObs.VarName1(i)>106)
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elseif(GNSSObs.PRN(i)>106)
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% BDS
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pred_meas(i,1) = range + RecClockUpdate(3) + tro_dalay(i) + ion_delay(i);
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pred_meas(i,2) = range_rate + RecClockUpdate(4);
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elseif(GNSSObs.VarName1(i)>=60 && GNSSObs.VarName1(i)<=95)
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elseif(GNSSObs.PRN(i)>=60 && GNSSObs.PRN(i)<=95)
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% GAL
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pred_meas(i,1) = range + RecClockUpdate(5) + tro_dalay(i) + ion_delay(i);
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pred_meas(i,2) = range_rate + RecClockUpdate(6);
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elseif(GNSSObs.VarName1(i)>=96 && GNSSObs.VarName1(i)<=105)
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elseif(GNSSObs.PRN(i)>=96 && GNSSObs.PRN(i)<=105)
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% QZS
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pred_meas(i,1) = range + RecClockUpdate(7) + tro_dalay(i) + ion_delay(i);
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pred_meas(i,2) = range_rate + RecClockUpdate(8);
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@ -94,11 +94,11 @@ for i=1:no_GNSS_meas
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end
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Obs_corr_psr = GNSSObs.VarName3+GNSSObs.VarName11 - GNSSObs.tgd_cor - GNSSObs.dual_cor ;
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Innovation=[Obs_corr_psr-pred_meas(1:no_GNSS_meas,1);GNSSObs.VarName4-pred_meas(1:no_GNSS_meas,2)];
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Obs_corr_psr = GNSSObs.Psr+GNSSObs.clk_err - GNSSObs.tgd_cor - GNSSObs.dual_cor ;
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Innovation=[Obs_corr_psr-pred_meas(1:no_GNSS_meas,1);GNSSObs.d_Psr-pred_meas(1:no_GNSS_meas,2)];
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index_elimi=abs (Innovation(1:no_GNSS_meas))>InnovationThreshold;
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index_lowele=el<deg2rad(Ele_threshold); % 卫星仰角
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index_lowSignalStrenth = GNSSObs.VarName12<Snr_threshold; % 信噪比
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index_lowSignalStrenth = GNSSObs.L1_SNR<Snr_threshold; % 信噪比
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index_elimi = index_lowele|index_lowSignalStrenth|index_elimi;
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el_angle = el(~index_elimi); % 筛选出符合要求的卫星仰角
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end
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@ -1,4 +1,4 @@
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function Plot_trajectory(start_index, LG69Tpos, TC_lat, TC_lon, RTK_data, fusion_axis)
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function Plot_trajectory(start_index, LG69Tpos, TC_lat, TC_lon, fusion_axis)
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[total_meas,~] = size(LG69Tpos);
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k = 1;
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@ -20,7 +20,7 @@ est_L_b = rad2deg(TC_lat);
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est_lambda_b = rad2deg(TC_lon);
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plot(est_lambda_b,est_L_b,'g');
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plot(est_lambda_b(fusion_axis),est_L_b(fusion_axis),'*b'); %融合点
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plot(RTK_data.lon,RTK_data.lat);
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% plot(RTK_data.lon,RTK_data.lat);
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legend('Ref','KF','fusion','RTK');
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title("GPS+BDS+GAL+QZS+INS");
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@ -8,6 +8,7 @@ TC_KF_config.L_ba_b = [-0.1; 0; -0.1]; %天线到IMU坐标系的杆臂
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TC_KF_config.RoubstFilterFlag = 1; %启用鲁棒滤波，仅为了调试方便
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TC_KF_config.VarDualCor = 1; %启用根据是否有双频电离层修正设置伪距观测方差，仅为了调试方便
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TC_KF_config.Velocity_Threshold = 5; %初始化速度门限m/s
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%% 初始噪声参数设置
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@ -16,13 +17,13 @@ rad_to_deg = 180 / pi;
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deg_to_rad = 0.01745329252;
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% Initial attitude uncertainty per axis (deg, converted to rad)
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TC_KF_config.init_att_unc = deg2rad(20);
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TC_KF_config.init_att_unc = deg2rad(5);
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% Initial velocity uncertainty per axis (m/s)
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TC_KF_config.init_vel_unc = 0.1;
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TC_KF_config.init_vel_unc = 10;
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% Initial position uncertainty per axis (m)
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TC_KF_config.init_pos_unc = 1;
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TC_KF_config.init_pos_unc = 30;
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% Initial accelerometer bias uncertainty per instrument (micro-g, converted to m/s^2)
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TC_KF_config.init_b_a_unc = 5 * micro_g_to_meters_per_second_squared;
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TC_KF_config.init_b_a_unc = 1000 * micro_g_to_meters_per_second_squared;
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% Initial gyro bias uncertainty per instrument (deg/hour, converted to rad/sec)
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TC_KF_config.init_b_g_unc = 300 * deg_to_rad / 3600;
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% Initial clock offset uncertainty per axis (m)
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@ -31,14 +32,14 @@ TC_KF_config.init_clock_offset_unc = 30;
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TC_KF_config.init_clock_drift_unc = 0.1;
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% Gyro noise PSD (rad^2/s)
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TC_KF_config.gyro_noise_PSD = (8.7266e-05)^2;
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TC_KF_config.gyro_noise_PSD = 4.5608709013908013e-7;
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% Accelerometer noise PSD (m^2 s^-3)
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TC_KF_config.accel_noise_PSD = (0.08*micro_g_to_meters_per_second_squared)^2;
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TC_KF_config.accel_noise_PSD =1.3516059391412613e-2;
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% Accelerometer bias random walk PSD (m^2 s^-5)
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TC_KF_config.accel_bias_PSD = 2*10E-5;
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TC_KF_config.accel_bias_PSD = 6.2711800396676807e-7;
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% Gyro bias random walk PSD (rad^2/s^3)
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TC_KF_config.gyro_bias_PSD = (1.4556e-05);
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TC_KF_config.gyro_bias_PSD = 1.2475185921386573e-10;
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% Receiver clock frequency-drift PSD (m^2/s^3)
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TC_KF_config.clock_freq_PSD = 1;
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5618
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/nmea.log
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5618
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/nmea.log
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
621
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/r.nav
Normal file
621
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/r.nav
Normal file
@ -0,0 +1,621 @@
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3.04 N: GNSS NAV DATA M: Mixed RINEX VERSION / TYPE
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20221107 082725 UTC PGM / RUN BY / DATE
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format: RTCM 3 COMMENT
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log: /Users/wakanda_shaw/Library/Mobile Documents/com~apple~COMMENT
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.312000000000D+01 .000000000000D+00 .488944351673D-08 .535510480404D-08
|
||||
.358296000000D+06 .000000000000D+00
|
||||
E33 2022 06 30 03 20 00 -.455153814983D-03 .326849658450D-12 .000000000000D+00
|
||||
.840000000000D+02 -.192187500000D+02 .270439836333D-08 .675164891328D+00
|
||||
-.908970832825D-06 .176139059477D-03 -.273250043392D-05 .544060515022D+04
|
||||
.357600000000D+06 -.540167093277D-07 .186441748950D+01 -.100582838058D-06
|
||||
.997659230751D+00 .418625000000D+03 .741595217183D+00 -.577166898461D-08
|
||||
-.546451333320D-10 .517000000000D+03 .221600000000D+04 .000000000000D+00
|
||||
.312000000000D+01 .000000000000D+00 -.279396772385D-08 -.325962901115D-08
|
||||
.358296000000D+06 .000000000000D+00
|
||||
E01 2022 06 30 03 20 00 -.505867588799D-03 -.740385530662D-11 .000000000000D+00
|
||||
.840000000000D+02 .566875000000D+02 .283868967139D-08 -.119798875873D+01
|
||||
.264868140221D-05 .114999478683D-03 .101532787085D-04 .544060600281D+04
|
||||
.357600000000D+06 .279396772385D-07 -.217758701793D+00 -.108033418655D-06
|
||||
.973523270969D+00 .124000000000D+03 -.157057354339D+01 -.518700177373D-08
|
||||
-.772532179066D-09 .517000000000D+03 .221600000000D+04 .000000000000D+00
|
||||
.312000000000D+01 .000000000000D+00 .465661287308D-09 .465661287308D-09
|
||||
.358326000000D+06 .000000000000D+00
|
||||
E19 2022 06 30 03 20 00 -.522979546804D-02 .108229869511D-09 .000000000000D+00
|
||||
.840000000000D+02 -.278750000000D+02 .316334605177D-08 .879026994888D+00
|
||||
-.111758708954D-05 .286826631054D-03 .100191682577D-04 .544061585236D+04
|
||||
.357600000000D+06 -.149011611938D-07 -.231591031107D+01 .409781932831D-07
|
||||
.962337044469D+00 .128125000000D+03 -.149362098468D+01 -.527557689181D-08
|
||||
.780032491484D-09 .517000000000D+03 .221600000000D+04 .000000000000D+00
|
||||
.312000000000D+01 .000000000000D+00 -.372529029846D-08 -.419095158577D-08
|
||||
.358386000000D+06 .000000000000D+00
|
||||
59380
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/r.obs
Normal file
59380
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/data/630_1/r.obs
Normal file
File diff suppressed because it is too large
Load Diff
@ -3,8 +3,10 @@ clc
|
||||
addpath("./Align_head");
|
||||
addpath("./Static_check");
|
||||
|
||||
load('./data/61/RTK_data_61_1.mat');
|
||||
load('./data/61/data.mat')
|
||||
load('./data/630_1/Satpos.mat')
|
||||
load('./data/630_1/pos.mat')
|
||||
load('./data/630_1/IMUPVT.mat')
|
||||
|
||||
%RTKlib得到的信息
|
||||
% column1:PRN
|
||||
% column2:Tow
|
||||
@ -26,20 +28,28 @@ micro_g_to_meters_per_second_squared = 9.80665E-6;
|
||||
IMU_buffer = zeros(IMU_config.window_size*100,2);
|
||||
buffer_index = 1;
|
||||
%% 初始对准
|
||||
index_ini = find(IMUPVT.Tow==floor(old_time));
|
||||
index_ini_pos=find(pos.Tow==floor(old_time));
|
||||
old_est_r_ea_e=[pos.ecef_posX(index_ini_pos);pos.ecef_posY(index_ini_pos);pos.ecef_posZ(index_ini_pos)];%初始GNSS天线位置
|
||||
old_est_v_ea_e=[pos.ecef_vX(index_ini_pos);pos.ecef_vY(index_ini_pos);pos.ecef_vZ(index_ini_pos)];%初始GNSS速度
|
||||
[old_est_L_a,old_est_lambda_a,old_est_h_a,old_est_v_ea_n] =pv_ECEF_to_NED(old_est_r_ea_e,old_est_v_ea_e);
|
||||
% 取开机前10s的IMU数据进行粗对准
|
||||
meas_f_ib_b=[IMUPVT.AccY(1:1000),IMUPVT.AccX(1:1000),-IMUPVT.AccZ(1:1000)];
|
||||
meas_omega_ib_b=[IMUPVT.gyroY(1:1000),IMUPVT.gyroX(1:1000),-IMUPVT.gyroZ(1:1000)];
|
||||
[roll, pitch, ~] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, 1000, IMU_config);
|
||||
init_pos = [old_est_L_a;old_est_lambda_a;old_est_h_a];
|
||||
% 取IMU增量作为输入
|
||||
% [att0, attk] = alignWahba([meas_omega_ib_b,meas_f_ib_b]*0.01, init_pos, 0);
|
||||
% head = att0(3);
|
||||
attitude_ini = [0.08 , 0.2 , 0];
|
||||
[roll, pitch, ~, init_bias] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, 1000, IMU_config);
|
||||
% 检测10s以后车速，并给出初始航向角yaw
|
||||
index_ini_pos=find(pos.Tow==floor(old_time));
|
||||
init_v = [pos.ecef_vX(index_ini_pos),pos.ecef_vY(index_ini_pos),pos.ecef_vZ(index_ini_pos)];
|
||||
% 寻找初始位置
|
||||
while(norm(init_v)<TC_KF_config.Velocity_Threshold)
|
||||
index_ini_pos=index_ini_pos+1;
|
||||
init_v = [pos.ecef_vX(index_ini_pos),pos.ecef_vY(index_ini_pos),pos.ecef_vZ(index_ini_pos)];
|
||||
end
|
||||
index_ini = find(IMUPVT.Tow==pos.Tow(index_ini_pos));
|
||||
% 初始位置e系下
|
||||
old_est_r_ea_e=[pos.ecef_posX(index_ini_pos);pos.ecef_posY(index_ini_pos);pos.ecef_posZ(index_ini_pos)];%初始GNSS天线位置
|
||||
% 初始速度
|
||||
old_est_v_ea_e=[pos.ecef_vX(index_ini_pos);pos.ecef_vY(index_ini_pos);pos.ecef_vZ(index_ini_pos)];%初始GNSS速度
|
||||
% NED下
|
||||
[old_est_L_a,old_est_lambda_a,old_est_h_a,old_est_v_ea_n] =pv_ECEF_to_NED(old_est_r_ea_e,old_est_v_ea_e);
|
||||
yaw = vel2head(old_est_L_a,old_est_lambda_a,init_v);
|
||||
% 得到初始姿态
|
||||
attitude_ini = [roll , pitch , yaw];
|
||||
|
||||
%% 提供初始位置与速度
|
||||
old_est_C_b_n=Euler_to_CTM(attitude_ini)';%从IMU轴系到当地水平坐标系坐标转换矩阵
|
||||
@ -50,7 +60,7 @@ est_L_b = old_est_L_a;
|
||||
est_lambda_b=old_est_lambda_a;
|
||||
|
||||
P_matrix = Initialize_TC_P_matrix(TC_KF_config);
|
||||
est_IMU_bias = zeros(6,1);
|
||||
est_IMU_bias = init_bias';
|
||||
|
||||
|
||||
%% 钟差预处理策略
|
||||
@ -58,6 +68,7 @@ Clock_Reset_Flag=0; %不进行钟差预处理
|
||||
est_clock=zeros(8,1)';
|
||||
|
||||
[no_epochs,~] = size(IMUPVT);
|
||||
no_epochs = find(IMUPVT.Tow==356233);
|
||||
k=1;
|
||||
fusion=1;
|
||||
for epoch = index_ini:no_epochs
|
||||
@ -97,7 +108,7 @@ for epoch = index_ini:no_epochs
|
||||
tor_i = 1;
|
||||
end
|
||||
old_time = time;
|
||||
index_gnss = find(Satpos.VarName2==IMUPVT.Tow(epoch));
|
||||
index_gnss = find(Satpos.Tow==IMUPVT.Tow(epoch));
|
||||
|
||||
% 筛选超过新息门限的观测
|
||||
[index_elimi,ele_angle] = GnssObs_filter(est_r_eb_e,est_v_eb_e,Satpos(index_gnss,:),est_clock,tor_i,time,fusion);
|
||||
@ -109,16 +120,26 @@ for epoch = index_ini:no_epochs
|
||||
else
|
||||
% 第二轮筛选卫星找出最佳PDOP
|
||||
if(no_GNSS_meas>30)
|
||||
SatPosi = [Satpos.VarName5(index_gnss),Satpos.VarName6(index_gnss),Satpos.VarName7(index_gnss)];
|
||||
SatPosi = [Satpos.ecef_X(index_gnss),Satpos.ecef_Y(index_gnss),Satpos.ecef_Z(index_gnss)];
|
||||
[ index_elimi, PDOP, RunningTime] = PickSubsetOfGNSS( 'RedundancyMatrix',15,est_r_eb_e,SatPosi );
|
||||
index_gnss(index_elimi) = []; % 剔除异常卫星
|
||||
ele_angle = ele_angle(~index_elimi);
|
||||
[no_GNSS_meas,~] = size(index_gnss);
|
||||
end
|
||||
|
||||
GNSS_measurements = [Satpos.VarName3(index_gnss)+Satpos.VarName11(index_gnss) - Satpos.tgd_cor(index_gnss) - Satpos.dual_cor(index_gnss), Satpos.VarName4(index_gnss), ...
|
||||
Satpos.VarName5(index_gnss), Satpos.VarName6(index_gnss),Satpos.VarName7(index_gnss), Satpos.VarName8(index_gnss),Satpos.VarName9(index_gnss),...
|
||||
Satpos.VarName10(index_gnss),ele_angle,Satpos.VarName1(index_gnss),Satpos.tgd_cor(index_gnss), Satpos.dual_cor(index_gnss), Satpos.Satpos_var(index_gnss)];
|
||||
GNSS_measurements = [Satpos.Psr(index_gnss)+Satpos.clk_err(index_gnss) - Satpos.tgd_cor(index_gnss), ...
|
||||
Satpos.d_Psr(index_gnss), ...
|
||||
Satpos.ecef_X(index_gnss),...
|
||||
Satpos.ecef_Y(index_gnss),...
|
||||
Satpos.ecef_Z(index_gnss),...
|
||||
Satpos.ecef_VX(index_gnss),...
|
||||
Satpos.ecef_VY(index_gnss),...
|
||||
Satpos.ecef_VZ(index_gnss),...
|
||||
ele_angle,...
|
||||
Satpos.PRN(index_gnss),...
|
||||
Satpos.tgd_cor(index_gnss),...
|
||||
Satpos.dual_cor(index_gnss), ...
|
||||
Satpos.Satpos_var(index_gnss)];
|
||||
|
||||
if strcmp(TC_KF_config.Meth, 'KF')
|
||||
% Run Integration Kalman filter
|
||||
@ -156,9 +177,8 @@ for epoch = index_ini:no_epochs
|
||||
old_est_v_eb_e = est_v_eb_e;
|
||||
old_est_C_b_e = est_C_b_e;
|
||||
end
|
||||
|
||||
%% 轨迹
|
||||
Plot_trajectory(index_ini_pos, pos, est_L_b, est_lambda_b, RTK_data, fusion_axis);
|
||||
Plot_trajectory(index_ini_pos, pos, est_L_b, est_lambda_b, fusion_axis);
|
||||
%% 姿态
|
||||
Plot_atti(atti);
|
||||
%% 速度
|
||||
|
||||
12
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/vel2head.m
Normal file
12
Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/vel2head.m
Normal file
@ -0,0 +1,12 @@
|
||||
function [yaw] = vel2head(L_b,lambda_b,ve)
|
||||
% velocity 2 head(rad)
|
||||
cos_lat = cos(L_b);
|
||||
sin_lat = sin(L_b);
|
||||
cos_long = cos(lambda_b);
|
||||
sin_long = sin(lambda_b);
|
||||
C_e_n = [-sin_lat * cos_long, -sin_lat * sin_long, cos_lat;...
|
||||
-sin_long, cos_long, 0;...
|
||||
-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat];
|
||||
v_n = C_e_n*ve';
|
||||
yaw = atan2(v_n(2),abs(v_n(1)));
|
||||
end
|
||||
@ -144,28 +144,25 @@ static void savepimu(ins_t *ins){
|
||||
* O uipdates body-to-ecef coordinate transformation matrix
|
||||
* double *omgb I angular rate of body frame (rad/s) w.r.t eci-frame
|
||||
* expressed in ecef-frame
|
||||
* double *omgbp I last angular rate of body frame (rad/s) w.r.t eci-frame
|
||||
* expressed in ecef-frame
|
||||
* double *das I rotational and sculling motion correction
|
||||
* return :none
|
||||
* ---------------------------------------------------------------------------*/
|
||||
static void updateatt(double t, double *Cbe, const double *omgb, const double *omgbp,const double *das)
|
||||
static void updateatt(double t, double *Cbe, const double *omgb,const double *das)
|
||||
{
|
||||
double alpha[3],mag_alpha,a1,a2,Ca[9],Ca2[9],Cbep[9];
|
||||
double Cbb[9]={1,0,0,0,1,0,0,0,1},Cei[9]={0};
|
||||
int i;
|
||||
// trace(3,"updateatt:\n");
|
||||
// for (i=0;i<3;i++) alpha[i]=omgb[i]*t+das[i];
|
||||
//Twin-like hypothesis
|
||||
for (i=0;i<3;i++) alpha[i]=omgb[i]*t+omgbp[i]*t*omgb[i]*t/12+das[i];
|
||||
for (i=0;i<3;i++) alpha[i]=omgb[i]*t+das[i];
|
||||
skewsym3(alpha,Ca);
|
||||
matmul3("NN",Ca,Ca,Ca2);
|
||||
mag_alpha=norm(alpha,3);
|
||||
if (mag_alpha<1E-8) {
|
||||
// a1=1.0-mag_alpha*mag_alpha/6.0;
|
||||
// a2=0.5-mag_alpha*mag_alpha/24.0; /* 5.72 */
|
||||
a1 = 1.0;
|
||||
a2 = 0;
|
||||
a1=1.0-mag_alpha*mag_alpha/6.0;
|
||||
a2=0.5-mag_alpha*mag_alpha/24.0; /* 5.72 */
|
||||
// a1 = 1.0;
|
||||
// a2 = 0;
|
||||
}
|
||||
else {
|
||||
a1=sin(mag_alpha)/mag_alpha;
|
||||
@ -385,7 +382,7 @@ extern int updateins(ins_t *ins,const imud_t *data){
|
||||
|
||||
/* update attitude */
|
||||
for (int i=0;i<9;i++) Cbe[i]=ins->Cbe[i];
|
||||
updateatt(dt,ins->Cbe,ins->omgb,ins->omgbp,das);
|
||||
updateatt(dt,ins->Cbe,ins->omgb,das);
|
||||
|
||||
for (int i=0;i<3;i++) alpha[i]=ins->omgb[i]*dt+das[i];
|
||||
skewsym3(alpha,Ca);
|
||||
|
||||
@ -37,8 +37,7 @@ extern void rt_insopt_init(insopt_t *insopt){
|
||||
insopt->clock_phase_PSD = 1.0;
|
||||
insopt->pseudo_range_SD = 1.0;
|
||||
insopt->range_rate_SD = 0.1;
|
||||
// insopt->tc = INSTC_SINGLE;
|
||||
// insopt->tc = INSTC_RTK;
|
||||
|
||||
|
||||
for(int i=0;i<3;i++){
|
||||
insopt->ba[i]=0;
|
||||
|
||||
@ -1,3 +1,3 @@
|
||||
Start testing: Mar 27 20:51 CST
|
||||
Start testing: Mar 29 15:11 CST
|
||||
----------------------------------------------------------
|
||||
End testing: Mar 27 20:51 CST
|
||||
End testing: Mar 29 15:11 CST
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user