2015惯性导航大作业.docx

My?Chinese?NameMy?Class?No. 1204103My?Student?No.Assignment?ofPrinciples?of?Navigation《导航原理》作业（惯性导航部分?2015?秋）The?report?is?to?contain:1.?Description?of?the?tasks?–?contents?of?the?next?page.2.?The?code?of?your?programs,?and?their?explanation.3.?The?results?of?your?computation?or?simulation.4.?Your?analysis?of?the?result,?and?your?reflection?on?the?programming?or?simulation5.?Originality?statements?or?reference/assistance?acknowledgements.English?is?expected?in?writing,?though?Chinese?is?also?accepted.AXAYAZ-255229251550357255229251550357255229251550357255229251550357303759452365312352289653180268400819853995223449350154810179497880355625135497880355625135XGYGZ-1872-3611-1945-720-1-2014-10800-2087-14390-2160-17990-2234-21601-2303-25201-2375-28781-2450-32390-2522-35992Task?descriptionA?missile?equipped?with?SINS?is?initially?at?the?position?of?46o?NL?and?123o?EL,?stationary?on?a?launch?pad.Three?gyros,?GX,?GY,?GZ,?and?three?accelerometers,?AX,?AY,?AZ,?are?installed?along?the?axes?Xb,?Yb,?Zb?of?itsbody?frame?respectively.Case?1:?stationary?testThe?body?frame?of?the?missile?initially?coincides?with?thegeographical?frame,?as?shown?in?the?figure,?with?its?pitch-Up?Zbing?axis?Xb?pointing?to?the?east,?rolling?axis?Yb?to?the?north,and?azimuth?axis?Zb?upward.?Then?the?body?of?the?missileis?made?to?rotate?in?3?steps:(1)?-22o?around?XbNorthYb(2)?78o?around?YbX?bEast(3)?–16??around?ZboAfter?that,?the?body?of?the?missile?stops?rotating.?You?are?required?to?compute?the?final?outputs?of?the?threeaccelerometers?on?the?missile,?using?quaternion?and?ignoring?the?device?errors.?It?is?known?that?the?magni-tude?of?gravity?acceleration?is?g?=?9.8m/s2.Case?2:?flight?testInitially,?the?missile?is?stationary?on?the?launch?pad,?400m?above?the?sea?level.?Its?rolling?axis?is?vertical?up,and?its?pitching?axis?is?to?the?east.?Then?the?missile?is?fired?up.The?outputs?of?the?gyros?and?accelerom