storecircle_ture.m

惯性导航精解算程序

function Storecircle_ture()
dT = .1;
totaltime = 3600;

fai0 =0;%以原点为圆心做匀速圆周运动

Rad = 10^4;%标称轨迹 匀速圆周运动，半径Rad,转速Ww
Ww = 2*pi/(0.5*3600);%半小时一圈
Vv= Rad*Ww;
tt = [0:dT:totaltime]';
true_step = size(tt,1);
hWaitBar = waitbar(0,'Please wait...');
for i=1:true_step
    
    if i==1
        fai(i) = fai0;
        VL(i,:) = [Vv*cos(fai0) -Vv*sin(fai0)];
        aL(i,:) = [-Ww^2*Rad*sin(fai0) -Ww^2*Rad*cos(fai0)];
        LL(i,:) = [Rad*sin(fai0) Rad*cos(fai0)];
    else
    fai(i) = fai0+Ww*dT*i;
    if fai(i)>2*pi
        fai(i) = fai(i)-2*pi;
    end
    VL(i,:) = [Vv*cos(fai(i)) -Vv*sin(fai(i))];
    aL(i,:) = [-Ww^2*Rad*sin(fai(i)) -Ww^2*Rad*cos(fai(i))];
    LL(i,:) = [Rad*sin(fai(i)) Rad*cos(fai(i))];
    end
waitbar(i/true_step,hWaitBar,[num2str( fix(i/true_step*100) ),'%'])%
end
close(hWaitBar);
Storecircle_true = [LL VL aL];
save Storecircle_true.mat Storecircle_true -ASCII -DOUBLE -MAT   ;