摘要
本文根据捷联式惯性导航系统的特点,对系统的不同模块分别采用MATLAB语言编程和Simulink模块图方法对系统进行仿真,对由加速度计信息计算地理坐标系的角速度信息模块,由于工程中其结构图已知,采用Simulink进行仿真比较方便且误差较小;对系统中的四元数以及姿态角的计算,由于计算量大,解算公式复杂,因此采用MATLAB语言编程进行仿真。最后通过执行MATLAB命令完成整个系统的仿真任务。本文的仿真方法克服了单纯应用MATLAB编程或其它高级语言编程仿真时的计算量大、难度高、周期长、误差大的缺点。使动态系统的仿真易于实现。
Based on the characteristic of SINS,the simulation is conducted by using MATLAB/Simulink to the different modules. Especially because the block diagram is gived ,the modules which calculating angular velocity in geography coordinate is simulated using Simulink.To the modules which calculating pose angular and quaternion ,because the computative process is complex ,the MATLAB is adopted,At last,by executing the command of the MATLAB,the system simulation is completed.The method can overcome such disadvantages as properties of complexity ,difficulty ,long cycleand,big error by comparing with the method using MATLAB or other program language.By using this method,the dynamic system simulation becomes easy.
出处
《微计算机信息》
北大核心
2005年第2期194-195,共2页
Control & Automation
关键词
捷联式惯性导航系统
仿真
误差
精度
Strap-down Inertial Navigation System (SINS)
Simulation
error
precision
