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1、《导航原理》作业(惯性导航部分)姓名班级1104103学号11104103一、题目要求AfighterequippedwithSINSisinitiallyatthepositionofNLandEL,stationaryonamotionlesscarrier.Threegyros,,,andthreeaccelerometers,,,areinstalledalongtheaxes,,ofthebodyframerespectively.Case1:stationaryonboardtestThebodyframeofthefighterinitiall
2、ycoincideswiththegeographicalframe,asshowninthefigure,withitspitchingaxispointingtotheeast,rollingaxistothenorth,andazimuthaxisupward.Thenthebodyofthefighterismadetorotatestepbysteprelativetothegeographicalframe.(1)around(2)around(3)aroundAfterthat,thebodyofthefighterstopsrotating.
3、Youarerequiredtocomputethefinaloutputofthethreeaccelerometersonthefighter,usingbothDCMandquaternionrespectively,andignoringthedeviceerrors.Itisknownthatthemagnitudeofgravityaccelerationis.Case2:flightnavigationInitially,thefighterisstationaryonthemotionlesscarrierwithitsboard25mabo
4、vethesealevel.Itspitchingandrollingaxesarebothinthelocalhorizon,anditsrollingaxisisonthenorthbyeast,parallelwiththerunwayonboard.Thenthefighteracceleratealongtherunwayandtakeofffromthecarrier.Theoutputofthegyrosandaccelerometersarebothpulsenumbers,Eachgyropulseisanangularincremento
5、f,andeachaccelerometerpulseis,with.Thegyrooutputfrequencyis10Hz,andtheaccelerometer’sis1Hz.Theoutputofgyrosandaccelerometerswithin5400sarestoredinMATLABdatafilesnamedgout.matandaout.mat,containingmatricesgmofandamofrespectively.Theformatofdataasshowninthetables,with10rowsofeachmatr
6、ixselected.Eachrowrepresentstheoutofthetypeofsensorsateachsampletime.TheEarthcanbeseenasanidealsphere,withradius6368.00kmandspinningrate,Theerrorsofsensorsareignored,soistheeffectofheightonthemagnitudeofgravity.Theoutputofthegyrosaretointegratedevery0.1s.Therotationofgeographicalfr
7、ameistobeupdatedevery1s,soarethevelocitiesandpositionofthefigure.Youarerequiredto:(1)Computethefinalattitudequaternion,longitude,latitude,height,andeast,north,verticalvelocitiesofthefighter.(2)Computethetotalhorizontaldistancetraveledbythefighter.(3)Drawthelatitude-versus-longitude
8、trajectoryofthefighter,wit