作業(yè)內(nèi)容：
一、數(shù)據(jù)說明：
1：慣導系統(tǒng)為指北方位的平臺系統(tǒng)。初始經(jīng)緯度為116度、39.9度,高度為500米。勻速飛行，速度為200米/秒，飛行高度不變。
2：fw中為500秒的數(shù)據(jù)，陀螺儀和加速度計采樣周期為0.1秒。
3：初始姿態(tài)角為[0 0 0]（俯仰，橫滾，航向）,fw中保存的為比力信息f、陀螺儀角速率信息w，排列順序為 一~三行分別為東、北、天向信息.
4: 航向角以逆時針為正。
二、作業(yè)要求：
1：可使用 MATLAB語言編程，用MATLAB編程時可使用如下形式的語句讀取數(shù)據(jù)：load D:\...文件路徑...\fw,便可得到比力信息和陀螺儀角速率信息。
2：作出其位置坐標曲線圖附在文本文檔中。
3：以上文件以源程序和文本文檔形式交，在文本文檔報告中要寫流程圖和學習小結(jié)，寫明聯(lián)系方式以便聯(lián)系。作業(yè)建文件夾，文件夾名寫上姓名和學號。

load H:\homework1_05\fw

注：作業(yè)提交時間為2008年10月31日前，提交地點為新主樓B座602劉百奇處
    劉百奇聯(lián)系方式：13701392488


the contents of homework
一，the explain of dates
1,inertial navigation system is flat roof system which point to the north. 
initialization of latitude and longitude is 116 degree,39.9degree,altitude is 
500 meters , velocity and altitude is not invariant.
2,fw are dates of 500 seconds ,the sampling periods gyro and accelerometer is
0.1 second.
3,initialization attitude is [0 0 0](pitching angle,roll angle,course angle)
fw contains the information of force f of accelerometer, angle velocity information of gyro w,
the arrange order from one to three row is east ,north, head.
4, anticlockwise of course angle is positive.
二，demands of homework
1,you can use  MATLAB language program .if you use MATLAB language program,reading the dates in following format:load D:\...文件路徑...\fw,you can get the information of force and angle velocity information of gyro .
2,gaving position coordinate curve in text document.
3,  the homework is gaving  in form of source program and text document .in text document there are needing flow chart and studing summary.give you contact manner,and establish a file,the name of file is you name and you student number