IE處理慣導(dǎo)數(shù)據(jù)的方法

1、三十三所慣導(dǎo)和里程計數(shù)據(jù)的處理方法說明運用WaypointInertialExplorer軟件對三十三所采集的慣導(dǎo)數(shù)據(jù)和里程計數(shù)據(jù)，結(jié)合Novtal的GPS數(shù)據(jù)進展處理得到最終的pos數(shù)據(jù)。原始數(shù)據(jù)的預(yù)處理由于三十三所的慣導(dǎo)采集的數(shù)據(jù)格式是.IMUUTC格式的數(shù)據(jù)包含慣導(dǎo)和里程計數(shù)據(jù)，WaypointInertialExplorer軟件對此格式不識別，需要進展格式轉(zhuǎn)換：（以2015年3月4日良鄉(xiāng)采集的試驗數(shù)據(jù)為例）1MUUTC轉(zhuǎn)換為.bin格式慣導(dǎo)數(shù)據(jù)和.dmr格式里程計數(shù)據(jù)A.IMU原始測量數(shù)據(jù)，數(shù)據(jù)格式如下:BYTEbtemp1,btemp2;fscanf(F_IMUUTC,%ld%d%d

2、%lf%lf%lf%lf%lf%lf%ld%d%lf，&(ImuAst.PC),&(btemp1),&(btemp2),&(Wibb0),&(Wibb1),&(Wibb2),&(Aibb0),&(Aibb1),&(Aibb2),&(ODOMETERInfo.Npulse),&(CtrlData.GpsSynFlag),&(CtrlData.UTCTime);其他信息：ImuAst.PC:int類型IMU幀計數(shù)每5ms加1btemp1:回到基準點標志btemp2:停止標志W(wǎng)ibb:陀螺數(shù)據(jù)，單位：rad/s;Aibb:加表數(shù)據(jù)，單位：m/s/s;ODOMETERInfo.Npulse:里程計脈沖

3、數(shù)，單位：CtrlData.GpsSynFlag:衛(wèi)星同步脈沖標志，個，每個當(dāng)量代表0.00175米1:有，0:無CtrlData.UTCTime:IMU數(shù)據(jù)對應(yīng)的UTC時間慣導(dǎo)坐標定義：x朝前，y朝上，z朝右里程計在慣導(dǎo)中的位置：x,z為0,y-0.17m，里程計在慣導(dǎo)下面17cm頻率200hz加速度角速度的增量里程計脈沖個數(shù)一圈180個脈沖里程計周長315mm直徑100毫米一個脈沖1.75mmB.運用VC代碼進展轉(zhuǎn)換，提取所需的慣導(dǎo)和里程計數(shù)據(jù)，代碼如下：CFileDialogdlg(TRUEMUUTC,*.IMUUTC,OFN_HIDEREADONLOFN_FILEMUSTEXISTIM

4、UFile(*.IMUUTC)|*IMUUTC|,NULL;if(dlg.DoModal()!=IDOK)return;|CStringfilename=dlg.GetPathName();獲得打開的文件名稱FILE*fp;if(fp=fopen(filename,r)=NULLMessageBoX文件打不開)；return;FILE*fpw,*dmrfp;CStringBinFileName,DmrFileName;BinFileName=filename.Left(filename.GetLength()-7)+.bin;/轉(zhuǎn)換后bin格式的文件名DmrFileName=filename.

5、Left(filename.GetLength()-7)+.dmr;/轉(zhuǎn)換后dmr格式的文件名fpw=fopen(BinFileName,wb);if(fpw=NULLreturn;dmrfp=fopen(DmrFileName,wb);if(dmrfp=NULLreturn;/設(shè)置dmr格式的頭文件信息根據(jù)所使用的里程計信息szHdr4=T;charszHdr1;szHdr1=$;charszHdr2;szHdr2=D;charszHdr3;szHdr3=M;charszHdr4;charszHdr5;szHdr5=R;charszHdr6;szHdr6=A;charszHdr7;szHdr

6、7=W;charszHdr8;szHdr8=0;shortsHdrSize;sHdrSize=512;shortsRecSize;sRecSize=16;shortsValueType;sValueType=O;shortsMeasType;sMeasType=2;/1量距離，2量速度shortsDIM;|sDIM=1;shortsRes;sRes=3;shortsDistanceType;/可選的/sDistanceType=1;shortsVelocityType;/量距單位，1-m/sor2-ticks/ssVelocityType=2;doubledScale;dScale=1.0;c

7、harszAxisName48=L,e,f,t,0;/，可選的doubledWheelSize;dWheelSize=0.315;/實際的輪胎長度longITicksPerRevolution;ITicksPerRevolution=180;/輪胎走一圈脈沖個數(shù)char*cExtra2=newchar420;/未賦值，可選的memset(cExtra2,0,420);cExtra2=Writebyzzz;fwrite(&szHdr1,sizeof(char),1,dmrfp);fwrite(&szHdr2,sizeof(char),1,dmrfp);fwrite(&szHdr3,sizeof(

8、char),1,dmrfp);fwrite(&szHdr4,sizeof(char),1,dmrfp);fwrite(&szHdr5,sizeof(char),1,dmrfp);fwrite(&szHdr6,sizeof(char),1,dmrfp);fwrite(&szHdr7,sizeof(char),1,dmrfp);fwrite(&szHdr8,sizeof(char),1,dmrfp);fwrite(&sHdrSize,sizeof(short),1,dmrfp);fwrite(&sRecSize,sizeof(short),1,dmrfp);|fwrite(&sValueType,

9、sizeof(short),1,dmrfp);fwrite(&sMeasType,sizeof(short),1,dmrfp);|fwrite(&sDIM,sizeof(short),1,dmrfp);fwrite(&sRes,sizeof(short),1,dmrfp);fwrite(&sDistanceType,sizeof(short),1,dmrfp);fwrite(&sVelocityType,sizeof(short),1,dmrfp);fwrite(&dScale,sizeof(double),1,dmrfp);fwrite(&szAxisName,sizeof(char),48

10、,dmrfp);fwrite(&dWheelSize,sizeof(double),1,dmrfp);fwrite(&ITicksPerRevolution,sizeof(long),1,dmrfp);fwrite(cExtra2,sizeof(char),420,dmrfp);/讀取原始文件的變量intrecordnum;intflag1;intflag2;doublegx,gy,gz,ax,ay,az;intodo;intGpsSynFlag;doublegpstime;.bin文件變量longscale=1000000;比例系數(shù)longlgx,lgy,lgz,lax,lay,laz;.d

11、mr文件的數(shù)據(jù)記錄變量shortsSync;sSync=65518;/setto0xffeeshortsWeek;sWeek=-1;GPSweeknumber,Setto-1ifnotknowndoubledTime;unsignedlonglValue;/values(counts)lValue=0;do/讀取原文件數(shù)據(jù)fscanf(fp,%ld，&record_num);fscanf(fp,%ld，&flag1);fscanf(fp,%ld，&flag2);fscanf(fp,%lf,&gx);fscanf(fp,%ld，&odo);fscanf(fp,%lf，&gy);fscanf(fp

12、,%lf，&gz);fscanf(fp,%lf，&ax);fscanf(fp,%lf，&ay);fscanf(fp,%lf，&az);fscanf(fp,%ld，&GpsSynFlag);fscanf(fp,%lf,&gpstime);if(feof(fp)break;/提取.bin文件數(shù)據(jù)gx=gx/3.846*180;陀螺計數(shù)據(jù)x由弧度每秒轉(zhuǎn)換為度每秒gy=gy/3.846*180;陀螺計數(shù)據(jù)y由弧度每秒轉(zhuǎn)換為度每秒gz=gz/3.846*180;陀螺計數(shù)據(jù)z由弧度每秒轉(zhuǎn)換為度每秒lgx=int(gx*scale);lgy=int(gy*scale);lgz=int(gz*scale);l

13、ax=int(ax*scale);lay=int(ay*scale);laz=int(az*scale);gpstime=gpstime+259200.0;/天秒轉(zhuǎn)換成周秒fwrite(&gpstime,sizeof(double),1,fpw);fwrite(&lgx,sizeof(long),1,fpw);fwrite(&lgy,sizeof(long),1,fpw);fwrite(&lgz,sizeof(long),1,fpw);fwrite(&lax,sizeof(long),1,fpw);fwrite(&lay,sizeof(long),1,fpw);fwrite(&laz,size

14、of(long),1,fpw);/提取.dmr格式文件dTime=gpstime;lValue+=odo;fwrite(&sSync,sizeof(short),1,dmrfp);fwrite(&sWeek,sizeof(short),1,dmrfp);fwrite(&dTime,sizeof(double),1,dmrfp);fwrite(&lValue,sizeof(unsignedlong),1,dmrfp);while(!feof(fp);fclose(fp);fclose(fpw);fclose(dmrfp);MessageBoXTMA轉(zhuǎn)換為BIN和DMR格式處理完成！);2Wayp

15、ointInertialExplorer軟件轉(zhuǎn)換.bin文件為.imr文件打開轉(zhuǎn)換選項的界面，選擇要轉(zhuǎn)換的.bin文件*WaypointIMUDdtaConversionInput/OutputFiles|Inputeinar5IMUFilell70237.bin血歷色|OutputWaypointBinaryFilftT7U237.irnrOutputWaypointASCIIFile(Forviewingtheda減fiat1000epochs)ITOutputASCIIPath:wgdmiriistratorWeklcp三十三所良鄉(xiāng)教據(jù)5030館IMUProfilesHG190D7iMA

16、RFJIQ-1yKJOQQHziMARFMS0-xI72-?_200HiMARFMS0-k_1-2二400缶iMARZRQkL2000H2_0_1-5)2-2iMARVRU20deo/himu33NewICoppbodilyDeleteRfinameAb?utConvertIMUCoriY&rtIMUProfiles選項中點擊NEW根據(jù)已有慣導(dǎo)的信息之前A局部已提供建立一個新的模型Profilerimu33Sensor/TimingSettings|SensorOrieTLtation.|DecoderSettings|GyrMe&surementslavarseGyroScale|10000

17、00.OOODOOOOU/GyroScale)CDataisdeltat(DataisangularrateAcceleron&tierffleasunenentsInvtrsAccalromftt*rSca1(1000000.OOOCOOOO(1/A.cclBytOritrInte*廠N&torolarD&tiisdsltaf*D&1&ieTimiingSiltingsData|aoo.o諫GPS-IMUbiiE|16?0000TimtTagForaatGPSsc:ikdof廿gekUTC5ofi*tvkTimtTagForaatGPSsc:ikdof廿gekUTC5ofi*tvkTimeT

18、agSaurcGPSCorrtctdTirrnfGPSReceivedTime取消取消設(shè)置完成之后點擊convet，轉(zhuǎn)換為所需的.imr文件，點擊關(guān)閉運用WaypointInertialExplorer軟件處理慣導(dǎo)和GPS數(shù)據(jù)1）新建一個工程文件打開projectwizard，新建一個工程路徑和名稱。添加流動站數(shù)據(jù)和慣導(dǎo)數(shù)據(jù)上面已經(jīng)預(yù)處理好的點擊下一步，默認不做修改W上少陰|下一時目冷點擊下一步點擊下一步增加基站數(shù)據(jù)默認選擇，點擊下一步，選擇基站數(shù)據(jù)文件點擊下一步，設(shè)置基站的坐標和天線高信息點擊下一步，默認選擇點擊下一步，完成工程文件的創(chuàng)建。2）做GPS數(shù)據(jù)差分處理處理完成后，得到差分后的軌跡圖:3）運用慣導(dǎo)和里程計數(shù)據(jù)做緊耦合處理打開緊耦合功能選項:IrW、E（mpwwlRtiiruDwipToivdsvlp點擊IMUSettings設(shè)置IMU相關(guān)參數(shù)，GPS天線與慣導(dǎo)的相對位置，初始化和完畢化的方式和時間