# UAV_Integrated_Navigation
## Preface
1. 遵循“先解释,后执行”的原则,注释总是写在对应程序的前面(上方)
2. 注意:在matlab程序中表示同时具有上标和下标的变量时,严老师书上的程序案例按照“上标在前,下标在后”的原则,我的习惯是按照 “下标在前,上标在后”的原则。eg:书中对于 "从b系到n系的过渡矩阵" Cbn 的写法为Cnb。
3. 程序中,总是按照如下方式定义变量:
1. pos : [ 纬度, 经度, 高度 ] 单位为rad, rad, m
2. vn : [ vE, vN, vU ] 单位为m/s
若无特地声明,表示角的大小的变量的单位总是rad,其他物理量的单位总是相应的国际单位。
4. 以_ref结尾的变量,注释中称其为“参考值”,“标准值”。这两种说法均表示“真实值”或“没有误差的值”。其中,本人更愿意把实测数据中的高精度参考称为“参考值”,把仿真程序生成的绝对准确的结果称为“标准值”,但真正写到程序里时也没区分那么细。
5. 通过仿真程序生成的数据以_SD作为结尾。
6. k_init 特指初始时刻数据的对应编号
## Meaning of some abbreviation
**ref**: reference **msr**: measurement **sv**: save **err**: error **prv**: previous **opt**: optimal **sml**: simulation **crt**: current **init**: initial **num**: number **smpl**: sample **cmpt**: compute **Lp**: loop **idx**: index **SD**: simulation data
**导航专用缩写:**
**avp**: attitude、velocity、position **pos**: positon **att**: attitude **vn**: ground velocity **acc**: accelerometer **gyr**: gyroscope **ang**: angle
## What's included in this code Repo.?
- 惯导解算程序
- 卡尔曼间接滤波算法(导航误差作为状态变量)
- 输出校正:估计的误差状态仅用来更新导航输出,不对惯导解算进行纠正
- 反馈校正:利用误差估计对惯导解算过程进行校正
## Further work
* [ ] Sage-Husa自适应滤波算法
* [ ] 强跟踪卡尔曼滤波算法
* [ ] ... ...
## References
- [1] 严恭敏, 捷联惯导算法与组合导航原理.
- [2] 王辰熙, 南航
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