Atsumi Toda / Mbed 2 deprecated Matrix_calculation_test

慣性航法で用いられる座標変換をプログラムにしました。ECI座標の初期位置を設定した後、ECI,ECEF,NED,機体座標系の変換を行います。行列計算の方法や値の設定などは、ヘッダーファイル内の記述を見れば分かると思います。 また計算結果はTeratermで確認する事が出来ます。 （行列を見る場合はtoString関数、ベクトルを見る場合はtoString_V関数を使用します）

Dependencies:   mbed

myConstants.h@0:6a28eb668082, 2019-01-30 (annotated)

Committer:
Joeatsumi
Date:
Wed Jan 30 11:39:03 2019 +0000
Revision:
0:6a28eb668082
Direction cosine matrix and it's calculation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joeatsumi 0:6a28eb668082 1 #pragma once
Joeatsumi 0:6a28eb668082 2
Joeatsumi 0:6a28eb668082 3 /* Math Constants */
Joeatsumi 0:6a28eb668082 4 #define NEARLY_ZERO 0.000000001f
Joeatsumi 0:6a28eb668082 5 #define ZERO_TOLERANCE 0.000001f
Joeatsumi 0:6a28eb668082 6 #define RAD_TO_DEG 57.2957795f // 180 / π
Joeatsumi 0:6a28eb668082 7 #define DEG_TO_RAD 0.0174532925f // π / 180
Joeatsumi 0:6a28eb668082 8
Joeatsumi 0:6a28eb668082 9 /* Accelerometer */
Joeatsumi 0:6a28eb668082 10 #define ACC_LSB_TO_G 0.0000610351562f // g/LSB (1/2^14
Joeatsumi 0:6a28eb668082 11 #define G_TO_MPSS 9.8f // (m/s^2)/g
Joeatsumi 0:6a28eb668082 12
Joeatsumi 0:6a28eb668082 13 /* Gyro Sensor */
Joeatsumi 0:6a28eb668082 14 //#define GYRO_LSB_TO_DEG 0.0304878048f // deg/LSB (1/32.8
Joeatsumi 0:6a28eb668082 15 #define GYRO_LSB_TO_DEG 0.0152671755f // deg/LSB (1/65.5
Joeatsumi 0:6a28eb668082 16 //#define GYRO_LSB_TO_DEG 0.00763358778f // deg/LSB (1/131
Joeatsumi 0:6a28eb668082 17
Joeatsumi 0:6a28eb668082 18 /* Pressure Sensor */
Joeatsumi 0:6a28eb668082 19 #define PRES_LSB_TO_HPA 0.000244140625f // hPa/LSB (1/4096
Joeatsumi 0:6a28eb668082 20
Joeatsumi 0:6a28eb668082 21 inline float TempLsbToDeg(short int temp) {
Joeatsumi 0:6a28eb668082 22 return (42.5f + (float)temp * 0.00208333333f); // degree_C = 42.5 + temp / 480;
Joeatsumi 0:6a28eb668082 23 }
Joeatsumi 0:6a28eb668082 24
Joeatsumi 0:6a28eb668082 25 /* GPS */
Joeatsumi 0:6a28eb668082 26 #define GPS_SQ_E 0.00669437999f // （第一離心率）^2
Joeatsumi 0:6a28eb668082 27 #define GPS_A 6378137.0f // 長半径(赤道半径)(m)
Joeatsumi 0:6a28eb668082 28 #define GPS_B 6356752.3f // 短半径(極半径)(m)
Joeatsumi 0:6a28eb668082 29
Joeatsumi 0:6a28eb668082 30 /* Geomagnetic Sensor */
Joeatsumi 0:6a28eb668082 31 #define MAG_LSB_TO_GAUSS 0.00092f // Gauss/LSB
Joeatsumi 0:6a28eb668082 32 #define MAG_MAGNITUDE 0.46f // Magnitude of GeoMagnetism (Gauss)
Joeatsumi 0:6a28eb668082 33 #define MAG_SIN -0.754709580f // Sin-Value of Inclination
Joeatsumi 0:6a28eb668082 34 #define MAG_DECLINATION 7.5f // declination (deg)
Joeatsumi 0:6a28eb668082 35
Joeatsumi 0:6a28eb668082 36 /* ADC */
Joeatsumi 0:6a28eb668082 37 #define ADC_LSB_TO_V 0.000050354f // 3.3(V)/65535(LSB)