matlab-(含教程)通过间接卡尔曼滤波实现GPS+INS在MAV导航上的数据融合和路线跟踪定位

classdef InsSolver properties attiCalculator; Qc; Rc; end methods function o = InsSolver(Qc0,Rc0) o.attiCalculator = AttitudeBase(); o.Qc=Qc0; o.Rc=Rc0; end function dy = imuDynamics( o,t,state,x ) %四元数的imu动力学方程 acc = x(1:3); gyro = x(4:6); v = state(4:6); quat = state(7:10); ba = state(11:13); bw = state(14:16); g = [0 0 -9.8]'; cnb = o.attiCalculator.quat2cnb(quat); omega = o.attiCalculator.QuatMulitMati(quat,[0;gyro - bw]); dy = [v;cnb'*(acc - ba)+g;omega/2;zeros(6,1)]; end function [state,predErrorState] = imu2state(o,acc_nose,gyro_noise,gps_noise,state0,errorstate0,tspan,step,isODE45) if nargin < 9 isODE45 = 1; end N = length(tspan); state = zeros(N,length(state0)); predErrorState=zeros(N,length(errorstate0)); predP=cell(N,1); %偏差预测误差方差 state(1,:) = state0'; predErrorState(1,:)= errorstate0'; predP{1}=zeros(15); %初偏差预测误差方差 for i = 1:N - 1 state(i+1,:) = o.statePrediction(state(i,:)',... [tspan(i) tspan(i+1)],... [acc_nose(i,:) gyro_noise(i,:)]',... isODE45)'; predQ=o.QuatNormalize(state(i+1,7:10)); %四元数归一化（进入本次迭代归一化一次） predCbn=o.attiCalculator.quat2cnb(predQ); [Fd,Gc,Fc]=o.getExponentMatFd(predCbn,step,acc_nose(i+1,:)-state(i+1,14:16),gyro_noise(i+1,:)-state(i+1,11:13));%acc取i行还是i+1行？ % predErrorState(i+1,:)=predErrorState(i,:)*Fd'; %误差状态预测 predErrorState(i+1,:)=zeros(1,15); Qd=o.getPredCovarianceMatQd(Gc,Fc,o.Qc,step); predP{i+1}=Fd*predP{i}*Fd'+Qd; %预测偏差方差矩阵计算 % state(i+1,7:10)=o.QuatNormalize(state(i+1,7:10));%四元数归一化（进入下次迭代之前归一化一次，动力学方程中没有归一化） if gps_noise(i+1,1)==1 [postErrorState,postP]=o.MeasurementUpdate((gps_noise(i+1,2:4)-state(i+1,1:3)),predP{i+1},predErrorState(i+1,:)); predErrorState(i+1,:)=postErrorState; %用新得到的后验偏差误差方差阵更新预测过程中得到的先验方差阵，以供后面迭代使用 predP{i+1}=postP; state(i+1,1:6)=state(i+1,1:6)+predErrorState(i+1,1:6); state(i+1,7:10)=o.attiCalculator.QuatMulitMat(state(i+1,7:10),[1,0.5*predErrorState(i+1,7:9)]'); state(i+1,7:10)=o.QuatNormalize(state(i+1,7:10)); %---------- state(i+1,11:16)=state(i+1,11:16)+predErrorState(i+1,10:15); %这个是否需要进行偏差矫正以后视情况而定，涉及姿态的就不用了 end end end function state = statePrediction(o,state0,tspan,imudata,isODE45) %一步状态预测 if isODE45 %ode45速度很慢 %这里的每一步就是状态预测 [t,y] = ode45(@o.imuDynamics,tspan,state0,[],imudata); state = y(end,:); else step = tspan(2) - tspan(1); dy = o.imuDynamics([],state0,imudata); state = state0 + step*dy; end end function [Fd,Gc,Fc]=getExponentMatFd(o,predCbn,step,a_hat,omega_hat) skew_a_hat=o.attiCalculator.a2skew_a(a_hat); skew_omega_hat=o.attiCalculator.a2skew_a(omega_hat); A=-predCbn'*skew_a_hat*(step^2/2*eye(3)-step^3/6*skew_omega_hat+step^4/24*skew_omega_hat^2); B=-predCbn'*skew_a_hat*(-step^3/6*eye(3)+step^4/24*skew_omega_hat-step^5/120*skew_omega_hat^2); C=-predCbn'*skew_a_hat*(step*eye(3)-step^2/2*skew_omega_hat+step^3/6*skew_omega_hat^2); D=-A; E=eye(3)-step*skew_omega_hat+step^2/2*skew_omega_hat^2; F=-step*eye(3)+step^2/2*skew_omega_hat-step^3/6*skew_omega_hat^2; Fd=[eye(3) step*eye(3) A B -predCbn'*step*step/2 zeros(3) eye(3) C D -predCbn'*step zeros(3) zeros(3) E F zeros(3) zeros(3) zeros(3) zeros(3) eye(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) eye(3)]; Gc=[zeros(3) zeros(3) zeros(3) zeros(3) -predCbn' zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) -eye(3) zeros(3) zeros(3) zeros(3) zeros(3) eye(3) zeros(3) eye(3) zeros(3) zeros(3)]; Fc=[zeros(3) eye(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) -predCbn'*skew_a_hat zeros(3) -predCbn' zeros(3) zeros(3) -skew_omega_hat -eye(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3) zeros(3)]; end function Qd=getPredCovarianceMatQd(o,Gc,Fc,Qc,step) Q_hat=Gc*Qc*Gc'; Qd=step*Q_hat+step^2*(0.5*Fc*Q_hat+Q_hat*0.5*Fc'); end function [postErrorState,postP]=MeasurementUpdate(o,error_gps_noise,predP,predErrorState) H=[eye(3) zeros(3,12)]; %量测矩阵 K=predP*H'*(H*predP*H'+o.Rc)^-1; %kalman增益 postErrorState=predErrorState+(error_gps_noise-predErrorState*H')*K';%后验偏差状态估计 postP=predP-K*H*predP; %后验偏差误差方差阵 end function Q=QuatNormalize(o,q) %四元数归一化 %q：输入四元数 Q=q/norm(q); end end end