哈工大导航原理大作业概览.docx

? 《导航原理》作业(惯性导航部分)姓名班级1104103学、题目要求A fighter equipped with SINS is initially at the position of NL and EL,stationary on a motionless carrier. Three gyros,,,and three accelerometers, ,, are installed along the axes ,, of the body frame respectively.Case 1:stationary onboard testThe body frame of the fighter initially coincides with the geographical frame, as shown in the figure, with its pitching axispointing to the east,rolling axis to the north, and azimuth axisupward. Then the body of the fighter is made to rotate step by step relative to the geographical frame.around around around After that, the body of the fighter stops rotating. You are required to compute the final output of the three accelerometers on the fighter, using both DCM and quaternion respectively,and ignoring the device errors. It is known that the magnitude of gravity acceleration is .Case 2:flight navigationInitially, the fighter is stationary on the motionless carrier with its board 25m above the sea level. Its pitching and rolling axes are both in the local horizon, and its rolling axis ison the north by east, parallel with the runway onboard. Then the fighter accelerate along the runway and take off from the carrier.The output of the gyros and accelerometers are both pulse numbers,Each gyro pulse is an angular increment of ,and each accelerometer pulse is ,with .The gyro output frequency is 10 Hz,and the accelerometer’s is 1Hz. The output of gyros and accelerometers within 5400s are stored in MATLAB data files named gout.mat and aout.mat, containing matrices gm of and am of respectively. The format of data as shown in the tables, with 10 rows of each matrix selected. Each row represents the out of the type of sensors at each sample time.The Earth can be seen as an ideal sphere, with radius 6368.00km and spinning rate , The errors of sensors are ignored, so is the effect of height on the magnitude of gravity. The output of the gyros are to integrated every 0.1s. The rotation