哈工大导航原理、惯性技术大作业.docx

PAGE \* MERGEFORMAT12 Assignment of Principles of Navigation? (INS) My Chinese Name白赫My Class No.1204201My Student No.1120110412 Dec 28th, 2015 Contents  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc439155970 1. The First Task stationary test  PAGEREF _Toc439155970 \h 3  HYPERLINK \l _Toc439155971 1.1 Task description  PAGEREF _Toc439155971 \h 3  HYPERLINK \l _Toc439155972 1.2 The Process of Solution  PAGEREF _Toc439155972 \h 3  HYPERLINK \l _Toc439155973 1.3 Programming Codes in MATLAB  PAGEREF _Toc439155973 \h 4  HYPERLINK \l _Toc439155974 1.4 Analysis of Result  PAGEREF _Toc439155974 \h 4  HYPERLINK \l _Toc439155975 2. The Second Task flight test  PAGEREF _Toc439155975 \h 5  HYPERLINK \l _Toc439155976 2.1 Task description  PAGEREF _Toc439155976 \h 5  HYPERLINK \l _Toc439155977 2.2 The Process of Solution  PAGEREF _Toc439155977 \h 6  HYPERLINK \l _Toc439155978 2.3 Programming Codes in MATLAB  PAGEREF _Toc439155978 \h 9  HYPERLINK \l _Toc439155979 2.4 Analysis of Result  PAGEREF _Toc439155979 \h 12  HYPERLINK \l _Toc439155980 3. Reflection on the simulation  PAGEREF _Toc439155980 \h 12  1. The First Task stationary test 1.1 Task description A missile equipped with SINS is initially at the position of 46o NL and 123o EL, stationary on a launch pad. Three gyros, GX, GY, GZ, and three accelerometers, AX, AY, AZ, are installed along the axes Xb, Yb, Zb of its body frame respectively. The body frame of the missile initially coincides with the geographical frame, as shown in the figure, with its pitching axis Xb pointing to the east, rolling axis Yb to the north, and azimuth axis Zb upward. Then the body of the missile is made to rotate in 3 steps: (1) -22° around Xb (2) 78° around Yb (3) -16° around Zb Up Zb Xb East  North Yb After that, the body of the missile stops rotating. You are required to compute the final outputs of the three accelerometers on the missile, using quaternion and i