导航原理大作业 哈工大概要1.doc

导航原理作业（惯性导航部分） 姓名 班号 学号 成绩 批阅人 Task description A fighter equipped with SINS is initially at the position of 35o NL and 122o EL, stationary on a motionless carrier. Three gyros, GX, GY, GZ, and three accelerometers, AX, AY, AZ, are installed along the axes Xb, Yb, Zb of its body frame respectively. Case 1: stationary onboard test The body frame of the fighter 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 fighter is made to rotate step by step relative to the geographical frame: (1) 10o around Xb (2) 30o around Yb (3) –50o around Zb After that, the body of the fighter stops rotating. You are required to compute the final outputs of the three accelerometers on the fighter, using both direction cosine matrix and quaternion respectively, and ignoring the device errors. It is known that the magnitude of gravity acceleration is g = 9.8m/s2. Case 2: flight navigation Initially, 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 is 45o north by east(北偏东), parallel with the runway onboard. Then the fighter accelerates along the runway and takes off from the carrier. The outputs of the gyros and accelerometers are both pulse numbers. Each gyro pulse is an angular increment of 0.1 arc-sec, and each accelerometer pulse is 1e-6g, with g = 9.8m/s2. The gyro output frequency is 10Hz, and the accelerometer’s is 1Hz. The outputs of the gyros and accelerometers within 5400s are stored in MATLAB data files named gout.mat and aout.mat, containing matrices gm of 54000×3 and am of 5400×3 respectively. The format of the data is as shown in the tables, with 10 rows of each matrix selected. Each row represents the outputs of the type of sensors at each sampling time. The Earth can be seen as an ideal