基于Simulink模型的捷联算法仿真平台研究

分析了捷联系统基于Simulink模型的姿态、速度和位置积分的基本方程。建立了仿真模型，给出了组成模块和算法框图。研究了采样与静差补偿，以及四元数、姿态、住置和速度更新的算法。构造的算法仿真通用平台，其输入可为实际系统的惯性测量元件(IMU)在线、离线数据的全部或部分，或自行构造的载体在某种运动轨迹下IMU的输出。仿真结果表明，利用Simulink多种直观的位置输出，可更有效地分析捷联系统，或对多种IMU的捷联导航特性进行比较验证。

Research on Simulation Workbench for Strapdown Algorithm Via Simulink Model

The general formulae of attitude, velocity and station integral for strapdown system based on Simulink were analyzed in this paper. The simulation model was established, and the module and algorithm block diagram were also given. The sample and static error compensation, quaternion and attitude updating and algorithm of station and velocity updating were researched. The input data of algorithm simulation workbench could be all or partial output from the real inertial measured units (IMU) or the carrier in a specific motion. The simulation results showed that it was efficient to analyze the strapdown system or evaluate navigation performances of different IMU based on the simulation system.