glvf——对工具箱的全局变量进行初始化
function glv1 = glvf(Re, f, wie)
——`根据参考椭球的长半轴、扁率和自转角速率确定相应参考椭球的其它参数`
% PSINS Toolbox global variable structure initialization. ——`对工具箱的全局变量进行初始化`
%
% Prototype: glv = glvf(Re, f, wie)
——`Re：长半轴、f：扁率、wie：自转角速率；glv：椭球参数的结构体`
% Inputs: Re - the Earth's semi-major axis
% f - flattening
% wie - the Earth's angular rate
% Output: glv1 - output global variable structure array
%
% See also psinsinit.
% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 14/08/2011, 10/09/2013, 09/03/2014
global glv ——`全局变量glv`
if ~exist('Re', 'var'), Re = []; end ——`如果变量Re不存在就使其为空`
if ~exist('f', 'var'), f = []; end ——`如果变量f不存在就使其为空`
if ~exist('wie', 'var'), wie = []; end ——`如果变量wie不存在就使其为空`
if isempty(Re), Re = 6378137; end ——`如果变量Re为空就给其赋值`
if isempty(f), f = 1/298.257; end ——`如果变量f为空就给其赋值`
if isempty(wie), wie = 7.2921151467e-5; end ——`如果变量wie为空就给其赋值`
glv.Re = Re; % the Earth's semi-major axis ——`长半轴`
glv.f = f; % flattening ——`扁率`
glv.Rp = (1-glv.f)*glv.Re; % semi-minor axis ——`短半轴`
glv.e = sqrt(2*glv.f-glv.f^2); glv.e2 = glv.e^2; % 1st eccentricity ——`第一偏心率`
glv.ep = sqrt(glv.Re^2-glv.Rp^2)/glv.Rp; glv.ep2 = glv.ep^2; % 2nd eccentricity
——`第二偏心率`
glv.wie = wie; % the Earth's angular rate ——`自转角速率`
glv.meru = glv.wie/1000; % milli earth rate unit ——`自转角速率的千分之一`
glv.g0 = 9.7803267714; % gravitational force ——`重力`
glv.mg = 1.0e-3*glv.g0; % milli g ——`单位：毫g`
glv.ug = 1.0e-6*glv.g0; % micro g ——`单位：微g`
glv.mGal = 1.0e-3*0.01; % milli Gal = 1cm/s^2 ~= 1.0E-6*g0
glv.ugpg2 = glv.ug/glv.g0^2; % ug/g^2
glv.ws = 1/sqrt(glv.Re/glv.g0); % Schuler frequency
glv.ppm = 1.0e-6; % parts per million ——`百万分之一`
glv.deg = pi/180; % arcdeg ——`单位：弧度`
glv.min = glv.deg/60; % arcmin ——`单位：弧分`
glv.sec = glv.min/60; % arcsec ——`单位：弧秒`
glv.hur = 3600; % time hour (1hur=3600second)
glv.dps = pi/180/1; % arcdeg / second
glv.dph = glv.deg/glv.hur; % arcdeg / hour
glv.dpss = glv.deg/sqrt(1); % arcdeg / sqrt(second)
glv.dpsh = glv.deg/sqrt(glv.hur); % arcdeg / sqrt(hour)
glv.dphpsh = glv.dph/sqrt(glv.hur); % (arcdeg/hour) / sqrt(hour)
glv.Hz = 1/1; % Hertz
glv.dphpsHz = glv.dph/glv.Hz; % (arcdeg/hour) / sqrt(Hz)
glv.ugpsHz = glv.ug/sqrt(glv.Hz); % ug / sqrt(Hz)
glv.ugpsh = glv.ug/sqrt(glv.hur); % ug / sqrt(hour)
glv.mpsh = 1/sqrt(glv.hur); % m / sqrt(hour)
glv.mpspsh = 1/1/sqrt(glv.hur); % (m/s) / sqrt(hour), 1*mpspsh~=1700*ugpsHz
glv.ppmpsh = glv.ppm/sqrt(glv.hur); % ppm / sqrt(hour)
glv.mil = 2*pi/6000; % mil
glv.nm = 1853; % nautical mile ——`单位：海里`
glv.kn = glv.nm/glv.hur; % knot ——`单位：节-海洋中的速度单位`
%%
glv.wm_1 = [0,0,0]; % the init of previous gyro ——`陀螺仪角度增量`
glv.vm_1 = [0,0,0]; % the init of previous acc sample ——`加速度计速度增量`
glv.cs = [ % coning & sculling compensation coefficients ——`锥度和双桨补偿系数`
[2, 0, 0, 0, 0 ]/3
[9, 27, 0, 0, 0 ]/20
[54, 92, 214, 0, 0 ]/105
[250, 525, 650, 1375, 0 ]/504
[2315, 4558, 7296, 7834, 15797]/4620 ];
glv.csmax = size(glv.cs,1)+1; % max subsample number ——`最大子样本数`
glv.v0 = [0;0;0]; % 3x1 zero-vector
glv.qI = [1;0;0;0]; % identity quaternion
glv.I33 = eye(3); glv.o33 = zeros(3); % identity & zero 3x3 matrices
glv.pos0 = [34.246048*glv.deg; 108.909664*glv.deg; 380]; % position of INS Lab@NWPU
glv.eth = []; glv.eth = earth(glv.pos0); ——`利用earth函数计算地球的相关参数`
%%
[glv.rootpath, glv.datapath, glv.mytestflag] = psinsenvi; ——`工具箱根路径、输出数据的
保存路径和测试程序的保存路径`
glv1 = glv; ——`输出全局变量的结构体`
