陀螺仪计算 (修复的).docx

本科生毕业论文题目: 基于 MATLAB Simulink 仿真滤波模块设计 Title: MATLAB Simulink simulation — based filter module design 学生姓名: 田雪松专业: 应用物理系班级: 五班指导教师: 韩炜教授 2014 年6月摘要 I 摘要 MATLAB 具有很强大的数值分析和处理能力,其自带的各种函数库能满足大多数理论或实验研究人员的需求。尤其 MATLAB S imulink 由于其可视化易操作通过拖动模块和连线就能实现很复杂的计算,使其分析数据十分方便。 kalma n 滤波是一种非常普遍的滤波方法它在收音机、计算机、航空航天、工业控制和几乎任何视频或通讯设备中广泛存在。本文首先介绍 kalman 滤波和惯性导航的基本知识,然后利用 MATLAB 的 simulink 模块对陀螺仪、加速度传感器数据进行处理和仿真,并结合 kalman 滤波进行分析。 MATLAB 虽然有很强的数值分析能力但在数据接口方面存在很多不便,并且所编程序在无 MATLAB 的环境无法运行。所以实现 MATLAB 与C#的混合编程就变得很有意义,本文通过 MATLAB 的 deploytool 工具箱把 MATLAB 编写的 m Assembly ,成可以被 C# 可用的 dll 文件, 实现 c# 在脱离 MATLAB 环境中调用 k almanl 滤波函数功能, 并编辑一个简单的用户界面实现数据输入和显示。关键词: MATLAB; simulink; kalman 滤波; matlab 与 c#混合编程摘要 II Abstract MATLAB has a very strong numerical analysis and processing capabilities,es with a variety of libraries to meet the needs of most researchers in theoretical or experimental. In particular simulink, because of its visualization, easy to operate. It may be able to achieve a plex mathematical operations by connecting module. kalman filter isa mon method of filtering is widely found in radios, computers, aerospace, industrial control, and almost any video munication equipment. This paper first introduces the basics of kalman filtering and inertial navigation, and then use the MATLAB simulink processing gyroscope, accelerometer data , bined with kalman filter for analysis. Although MATLAB has a strong numerical ability but there are a lotof inconvenience in terms of data interface. Therefore the MATLAB program transplanted to c# have a great sense. Through the MATLAB deploytool toolbox written in the MATLAB m-file into a. NET Assembly , ing a DLL file that can be call byC#. Let ’sC# can call kalmanl filtering functions from the MATLAB environment, And edit a user interface for data entry and display. Keywords: MATLAB; SIMULINK; Kalmanfilter; MATLAB mixed programming with C# 目录目录摘要................................................................................................