PSINS中的AVP
PSINS工具箱里面的trj.avp、trj.avp0等中的avp指的是姿态(attitude)、速度(velocity)和位置(position),最后加一个时间戳t:
avp=[att; vn; pos; t]。
姿态
姿态的构成为:俯仰角pitch+横滚角roll+偏航角yaw。单位为弧度
速度
速度的构成为:东向速度+北向速度+天向速度。单位为m/s
位置
位置的构成为:纬度+经度+高度。其中纬度和经度的单位均为度,高度的单位为m
附:工具箱自带的解释
function avp = avpset(att, vn, pos, isdeg)
% avp=[attitude; velocity; position] setting.
%
% Prototype: avp = avpset(att, vn, pos)
% Inputs: att - attitude in deg
% vn - velocity in m/s
% pos - postion=[lat;lon;height] with lat and lon in deg,
% while heigth in m. see posset.
% isdeg - unit deg flag
% Output: avp=[attitude; velocity; position]
%
% See also posset, avpchk, avperrset, avpadderr, insupdate.% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 08/03/2014, 22/01/2021
function avperr = avperrset(phi, dvn, dpos)
% avp errors setting.
%
% Prototype: avperr = avperrset(phi, dvn, dpos)
% Inputs: phi - platform misalignment angles. all in arcmin
% dvn - velocity errors in m/s
% dpos - position errors dpos=[dlat;dlon;dhgt], all in m
% Output: avperr = [phi; dvn; dpos]
%
% See also poserrset, vperrset, avpadderr, imuerrset, avpset, insupdate, avperrstd.% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 08/03/2014
global glvavperr = [rep3(phi)*glv.min; vperrset(dvn,dpos)];