INS model for simulink with some error modeling
2016-08-23
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you can simulate an Inertial Navigation System.
when you have some inputs from accelerometers and gyros, you can earn the position. as a simple description you can earn the goal with integration but the actual process is more complex. you must have the differential equations of states whereas they are couple. so for computing the position you must solve all equations together. in this code you must first run the initial.m and then run the INS.mdl. in the simulink model (INS.mdl) you can handle the inputs for acceleration and rotational rates.
in this model ti assumed that the inputs are all zero (for a non-moving vehicle) and the effect of sensor errors are studied, but you can use it in the other way.
when you have some inputs from accelerometers and gyros, you can earn the position. as a simple description you can earn the goal with integration but the actual process is more complex. you must have the differential equations of states whereas they are couple. so for computing the position you must solve all equations together. in this code you must first run the initial.m and then run the INS.mdl. in the simulink model (INS.mdl) you can handle the inputs for acceleration and rotational rates.
in this model ti assumed that the inputs are all zero (for a non-moving vehicle) and the effect of sensor errors are studied, but you can use it in the other way.
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