【PSINS工具箱】基于工具箱，自己设计的轨迹，并生成IMU数据和三维视图（完整代码）

本文主要是介绍【PSINS工具箱】基于工具箱，自己设计的轨迹，并生成IMU数据和三维视图（完整代码），希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

完整代码

在有工具箱的情况下，直接运行代码，即可

% 基于PSINS工具箱的三维轨迹生成、三维图像绘制与IMU数据生成
% date:2024-2-13
% Evand（evandworld@qq.com）
% Ver1
clear;clc;close all;
glvs
ts = 0.1;       % sampling interval
avp0 = [[0;0;0]; [0;0;0]; glv.pos0]; % init avp
% trajectory segment setting
traj_ = [];
% seg = trjsegment(traj_, 'init',         0);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'accelerate',   10, traj_, 1);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'coturnleft',   45, 2, traj_, 4);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'coturnright',  10*5, 9, traj_, 4);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'climb',        10, 2, traj_, 50);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'descent',      10, 2, traj_, 50);
% seg = trjsegment(seg, 'uniform',      100);
% seg = trjsegment(seg, 'deaccelerate', 5,  traj_, 2); %2
% seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(traj_, 'init',         0);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'accelerate',   10, traj_, 1);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'coturnleft',   45, 2, traj_, 4);
seg = trjsegment(seg, 'climb',        10, 2, traj_, 50);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'descent',      10, 2, traj_, 50);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'coturnleft',   45, 2, traj_, 4);
seg = trjsegment(seg, 'uniform',      100);
seg = trjsegment(seg, 'deaccelerate', 5,  traj_, 2); %2
seg = trjsegment(seg, 'uniform',      100);
% generate, save & plot
trj = trjsimu(avp0, seg.wat, ts, 1);
trjfile('trj10ms.mat', trj);
insplot(trj.avp);
imuplot(trj.imu);
figure;
plot3(trj.avp(:,7),trj.avp(:,8),trj.avp(:,9));
hold on
plot3(trj.avp(1,7),trj.avp(1,8),trj.avp(1,9),'*');