哈工大导航原理大作业
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(3) -50 around Zb
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 g 9.8m / s2 . Case 2:flight navigation
3
The Earth can be seen as an ideal sphere, with radius 6368.00km and spinning rate 7.29210-5 rad/s , 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 of geographical frame is to be updated every 1s, so are the velocities and position of the figure. You are required to: (1)Compute the final attitude quaternion, longitude, latitude, height, and east, north, vertical velocities of the fighter. (2)Compute the total horizontal distance traveled by the fighter. (3)Draw the latitude-versus-longitude trajectory of the fighter, with horizontal longitude axis. (4)Draw the curve of the height of fighter, with horizontal time axis.
The output of the gyros and accelerometers are both pulse numbers,Each gyro pulse is an angular increment of 0.1arc sec,and each accelerometer pulse is 1e6 g ,with g 9.8m / s2 .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 54003 and am of 54003 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.
哈工大导航原理大作业
-标准化文件发布号：（9456-EUATWK-MWUB-WUNN-INNUL-DDQTY-KII
《导航原理》作业
(惯性导航部分)
姓名 班级 学号
1104103 11104103
2
一、题目要求
A fighter equipped with SINS is initially at the position of 35 NL and 122 EL,stationary on a motionless carrier. Three gyros GX , GY , GZ ,and three
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 45on the north by east, parallel with the runway onboard. Then the fighter accelerate along the runway and take off from the carrier.
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) 10 around X b
(2) 30 around Yb
accelerometers, AX , AY , AZ are installed along the axes X b ,Yb , Zb of the body frame resБайду номын сангаасectively. 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 X b pointing to the east,rolling axis Yb to the
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 g 9.8m / s2 . Case 2:flight navigation
3
The Earth can be seen as an ideal sphere, with radius 6368.00km and spinning rate 7.29210-5 rad/s , 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 of geographical frame is to be updated every 1s, so are the velocities and position of the figure. You are required to: (1)Compute the final attitude quaternion, longitude, latitude, height, and east, north, vertical velocities of the fighter. (2)Compute the total horizontal distance traveled by the fighter. (3)Draw the latitude-versus-longitude trajectory of the fighter, with horizontal longitude axis. (4)Draw the curve of the height of fighter, with horizontal time axis.
The output of the gyros and accelerometers are both pulse numbers,Each gyro pulse is an angular increment of 0.1arc sec,and each accelerometer pulse is 1e6 g ,with g 9.8m / s2 .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 54003 and am of 54003 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.
哈工大导航原理大作业
-标准化文件发布号：（9456-EUATWK-MWUB-WUNN-INNUL-DDQTY-KII
《导航原理》作业
(惯性导航部分)
姓名 班级 学号
1104103 11104103
2
一、题目要求
A fighter equipped with SINS is initially at the position of 35 NL and 122 EL,stationary on a motionless carrier. Three gyros GX , GY , GZ ,and three
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 45on the north by east, parallel with the runway onboard. Then the fighter accelerate along the runway and take off from the carrier.
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) 10 around X b
(2) 30 around Yb
accelerometers, AX , AY , AZ are installed along the axes X b ,Yb , Zb of the body frame resБайду номын сангаасectively. 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 X b pointing to the east,rolling axis Yb to the