惯性导航解算程序

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1 性质、目的和任务

1.1性质、目的和任务

1.2组织和分工情况

小组**三人，分别为hj、pzl和myj，每人协作、独立进行了惯导解算程序的设计。

小组成员	分工
hj	解算程序的算法部分、可视化界面主体功能的实现
pzl	界面换肤、图标、按钮换颜色和保存图片与日志功能、软件测试
myj	说明帮助文档的撰写、程序介绍视频、软件测试

2 重点及内容

主要包含以下几个主要内容，分别为：1. 编程实现欧拉角、方向余弦阵、四元数以及等效旋转矢量之间的相互转换；2. 编程实现大地坐标与地心直角坐标相互转换；3. 编程实现IMR格式惯导数据的读取与解析；4. 编程实现地理坐标系下的姿态更新；5.编程实现地理坐标系下的速度和位置更新；6. 编程实现解析粗对准。

2.1 欧拉角、方向余弦阵、四元数、等效旋转矢量转换

2.2 大地坐标与地心直角坐标相互转换

2.3 IMR格式惯导数据的读取与解析

IMR格式的数据读取即通过给定的IMR格式编写读写程序。其数据结构如下表所示：

IMR Header Struct Definition
Word	Size (bytes)	Type	Description
szHeader	8	char[8]	“$IMURAW0” – NULL terminated ASCII string
bIsIntelOrMotorola	1	int8_t	0 = Intel (Little Endian), default 1 = Motorola (Big Endian)
dVersionNumber	8	double	Inertial Explorer program version number (e.g. 8.80)
bDeltaTheta	4	int32_t	0 = Data to follow will be read as scaled angular rates 1 = (default), data to follow will be read as delta thetas, meaning angular increments (i.e. scale and multiply by dDataRateHz to get degrees/second)
bDeltaVelocity	4	int32_t	0 = Data to follow will be read as scaled accelerations 1 = (default), data to follow will be read as delta velocities, meaning velocity increments (i.e. scale and multiply by dDataRateHz to get m/s2)
dDataRateHz	8	double	The data rate of the IMU in Hz. e.g. 0.01 second data rate is 100 Hz
dGyroScaleFactor	8	double	If bDeltaTheta == 0, multiply the gyro measurements by this to get degrees/second If bDeltaTheta == 1, multiply the gyro measurements by this to get degrees, then multiply by dDataRateHz to get degrees/second
dAccelScaleFactor	8	double	If bDeltaVelocity == 0, multiply the accel measurements by this to get m/s2 If bDeltaVelocity == 1, multiply the accel measurements by this to get m/s, then multiply by dDataRateHz to get m/s2
iUtcOrGpsTime	4	int32_t	Defines the time tags as GPS or UTC seconds of the week 0 = Unknown, will default to GPS 1 = Time tags are UTC seconds of week 2 = Time tags are GPS seconds of week
iRcvTimeOrCorrTime	4	int32_t	Defines whether the time tags are on the nominal top of the second or are corrected for receiver time bias 0 = Unknown, will default to corrected time 1 = Time tags are top of the second 2 = Time tags are corrected for receiver clock bias
dTimeTagBias	8	double	If you have a known bias between your GPS and IMU time tags enter it here
szImuName	32	char[32]	Name of the IMU being used
reserved1	4	uint8_t[4]	Reserved for future use
szProgramName	32	char[32]	Name of calling program
tCreate	12	time_type	Creation time of file
bLeverArmValid	1	bool	True if lever arms from IMU to primary GNSS antenna are stored in this header
lXoffset	4	int32_t	X value of the lever arm, in millimeters
lYoffset	4	int32_t	Y value of the lever arm, in millimeters
lZoffset	4	int32_t	Z value of the lever arm, in millimeters
Reserved[354]	354	int8_t[354]	Reserved for future use

The single header, which is a total of 512 bytes long, is followed by a structure of the following type for each IMU measurement epoch:

IMR Record Struct Definition
Word	Size	Type	Description
Time	8	double	Time of the current measurement
gx	4	int32_t	Scaled gyro measurement about the IMU X-axis
gy	4	int32_t	Scaled gyro measurement about the IMU Y-axis
gz	4	int32_t	Scaled gyro measurement about the IMU Z-axis
ax	4	int32_t	Scaled accel measurement about the IMU X-axis
ay	4	int32_t	Scaled accel measurement about the IMU Y-axis
az	4	int32_t	Scaled accel measurement about the IMU Z-axis

2.4 地理坐标系下的姿态更新

2.5 地理坐标系下的速度和位置更新

2.6 解析粗对准

3 解算程序设计思路原理

3.1编译环境概述：

操作系统: Windows 10专业版 19042.685
主要IDE: Microsoft Visual Studio 2019 + Qt Creator 4.11.1(Community)
程序语言：C++ 11
其他实现IDE: PyCharm Professional 2020.3.1, MATLAB 2020a

3.2程序组织架构：

算法的主要实现结构如下图所示：

3.2代码设计：

3.2.1姿态转换矩阵

欧拉角类的类架构如下所示：

方形余弦阵类架构的如下所示：

四元数类的架构如下所示：

等效旋转矢量类的架构如下所示：

3.2.2坐标转换

坐标转化的相应函数如下所示：

3.2.3 IMR文件的读取与解析

IMR 文件头的组织架构

IMR 数据结构：

IMR数据读取结构

3.2.4 姿态、速度、位置更新

4 软件概述及功能介绍

4.1 概述

操作系统：Windows 10
IDE：Microsoft Visual Studio 2015
程序语言：C++ 11
主程序文件构成：GPSsolving.h GPSsolving.cpp question.cpp

矩阵类文件构成：Matrix.h Matrix.cpp

4.2软件功能概述

软件功能如下图所示：

本惯性导航数据解算软件主要基于Qt开发，主要实现了下述的一些功能：

在数据解算方面，软件实现了IMR数据文件的解算读取、初始姿态数据的保存、惯导数据的解算（其中包括了欧拉角、方形余弦阵、四元数、等效旋转矢量的转换、大地坐标与地心直角坐标相互转换、地理坐标系的姿态更新、速度更新、位置更新、解析粗对准等功能）。
在数据的存储方面、主要实现了解算数据的存储、打开、绘图功能、绘图结果的存储、软件日志的存储。
在软件功能方面，软件实现了日志功能、撰写了相应的帮助文档、通过邮件联系作者以及切换软件界面视图等功能。