哈工大惯性技术考汇总.ppt

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * Lecture 1 -- Introduction * E9 1.1*Strapdown INS: Features Which of the following features are shared by Platform INS and Strapdown INS? D .以下哪些特征是平台惯导和捷联惯导共有的 A. Accelerometers and gyros are fixed to the body of the vehicle加速度计和陀螺仪被固定到载体上面 B. Outputs of gyros are integrated to obtain the attitude of the vehicle.陀螺仪的输出被积分用来获得载体的姿态。 C. There is a physical platform to emulate the navigation frame.有一个物理平台来模拟导航坐标系。 D. In the navigation frame, accelerations are integrated to obtain the velocities and position of the vehicle.在导航坐标系中，加速度被集成以获得载体的速度和位置。 Lecture 1 -- Introduction * E9 2.3*Derivative of direction cosines If the attitude of a vehicle is described by a direction cosine matrix C, and its angular rate by ω whose skew symmetric matrix is Ω, then C can be determined by solving the differential equation B . 如果一个载体的姿态是由方向余弦矩阵C来描述，并且其角速度由ω的斜对称矩阵Ω描述，那么C可以通过求解微分方程——确定 A. B. C. D. Lecture 1 -- Introduction * E9 3.7 Example A vehicle is equipped with SINS. At time n, its body frame coincides with the inertial frame, which is chosen as navigation frame. Then from time n to n+1, the angular increment outputs of its three gyros GX, GY, GZ, are 0.002, 0.004 and 0.006 (rad) respectively; Please use 1st order Peano-Paker algorithm to compute the DCM from body frame to inertial frame at time n+1.载体配备捷联惯导系统。在时间n，它的机身坐标系与惯性坐标系重合，被选为导航坐标系。再从时间n到n +1，它的三个陀螺仪的角度增量输出GX ，GY，GZ，分别是0.002，0.004和0.006（弧度）;请使用一阶皮亚诺-PAKER算法，计算在n +1时刻从机身坐标系到惯性系的DCM 。 solution initially and so Lecture 1 -- Introduction * E10 1.1*Definition of quaternions The unit vectors of a frame XYZ are i, j, k respectively. If the frame rotates around its axis Z for 60 degrees, then this rotation can be described by a quaternion D .坐标系单位矢量XYZ分别为i，j，K。如果坐标系绕其轴线Z旋转60度，则该旋转可以通过一个四元数——描述 A. B. C. D. Lecture 1 -- Introduction * E10 2.2* i, j, k in multiplication If and then C