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transportrate.m 2.04 KB
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rodralez 提交于 2019-03-15 10:00 . 2019-03-15
function omega_en_n = transportrate(lat, Vn, Ve, h)
% transportrate: calculates the transport rate in the navigation frame.
%
% Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
%
% This file is part of NaveGo, an open-source MATLAB toolbox for
% simulation of integrated navigation systems.
%
% NaveGo is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License (LGPL)
% version 3 as published by the Free Software Foundation.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public
% License along with this program. If not, see
% <http://www.gnu.org/licenses/>.
%
% References:
% Titterton, D.H. and Weston, J.L. (2004). Strapdown
% Inertial Navigation Technology (2nd Ed.). Institution
% of Engineering and Technology, USA. Eq. 3.74.
%
% R. Gonzalez, J. Giribet, and H. Patiño. An approach to
% benchmarking of loosely coupled low-cost navigation systems,
% Mathematical and Computer Modelling of Dynamical Systems, vol. 21,
% issue 3, pp. 272-287, 2015. Eq. 10.
%
% Version: 001
% Date: 2014/09/11
% Author: Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL: https://github.com/rodralez/navego
h = abs(h);
if (isa(Vn,'single'))
[RM,RN] = radius(lat, 'single');
omega_en_n(1,1) = single(Ve /(RN + h)); % North
omega_en_n(2,1) = single(-(Vn /(RM + h))); % East
omega_en_n(3,1) = single(-(Ve * tan(lat) / (RN + h))); % Down
else
[RM,RN] = radius(lat);
omega_en_n(1,1) = (Ve /(RN + h)); % North
omega_en_n(2,1) = (-(Vn /(RM + h))); % East
omega_en_n(3,1) = (-(Ve * tan(lat) / (RN + h))); % Down
end
end
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