kalmandoc.h

基于VC环境下的组合导航卡尔曼滤波仿真器设计

// KalmanDoc.h : interface of the CKalmanDoc class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_KALMANDOC_H__D6ECA6A4_5E27_499B_9CDF_94974C8A4CAB__INCLUDED_)
#define AFX_KALMANDOC_H__D6ECA6A4_5E27_499B_9CDF_94974C8A4CAB__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000


class CKalmanDoc : public CDocument
{
protected: // create from serialization only
	CKalmanDoc();
	DECLARE_DYNCREATE(CKalmanDoc)

// Attributes
public:

// Operations
public:

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CKalmanDoc)
	public:
	virtual BOOL OnNewDocument();
	virtual void Serialize(CArchive& ar);
	//}}AFX_VIRTUAL

// Implementation
public:
	virtual ~CKalmanDoc();
#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:
	double Ax;
	double Ay;
	double Apx;
	double Apy;
	double ax;//加速度计零位误差
	double ay;
	double gcx;//陀螺随机常值漂移
	double gcy;
	double gcz;
	double grx;//陀螺随机漂移
	double gry;
	double grz;
	double gcorx;
	double gcory;
	double gcorz;//陀螺漂移补偿量
	double ua;
	double ub;
	double ur;//平台误差角校正量
	double Vx;
	double Vy;
	double Vcx;
	double Vcy;
	double dVx;
	double dVy;
	double dVcx;
	double dVcy;
	double wd;
	double jd;
	double zswd;
	double zsjd;
	double dwd;
	double djd;
	double dzswd;
	double dzsjd;
	double Wx;
	double Wy;
	double Wz;
	double Wcx;
	double Wcy;
	double Wcz;
	double A;
	double B;
	double R;
	double dA;
	double dB;
	double dR;//平台误差角
	double RM;
	double RN;
	double w;
	double g;

// Generated message map functions
protected:
	void ErrorAngle();
	void RealLoad();
	void Load();
	void RealSpeed();
	void Speed();
	//{{AFX_MSG(CKalmanDoc)
	afx_msg void OnWhitenoise();
	afx_msg void OnSquare();
	afx_msg void OnMarkov();
	afx_msg void OnNavigation();
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_KALMANDOC_H__D6ECA6A4_5E27_499B_9CDF_94974C8A4CAB__INCLUDED_)