clear?all
glvs;
imu?=?load（‘data\lgimu.dat‘）;??%?約半小時數據，采樣周期8ms，共6列數據:前3為角增量，后3為速度增量
imu?=?[imu（:1:3）*0.932*glv.sec?imu（:4:6）*500*glv.ug];
Ts?=?0.008;???%?步長
[kxy?kz]?=?compasskxyz（20?200）;
vn?=?[0;0];?dpos?=?[0;0];??wnc?=?zeros（31）;?%?狀態初始值
pos?=?[34.246048*glv.deg;?108.909663*glv.deg;?380];??%?西工大自動化學院慣性技術實驗室位置
[wnie?wnen?gn]?=?earth（pos）;
%?qnb?=?a2qnb（[0.8;?0.3;?-90.6]*glv.deg）;?%?姿態大致值
[att?pi0k?pib0k]?=?align_i0（imu（1:30*1251:3）?imu（1:30*1254:6）?pos?Ts）;
qnb?=?a2qnb（att（end:）‘）;
q2att（qnb）/glv.deg
t?=?600;??%?總時間長度
len?=?fix（t/Ts）;?attk=zeros（len3）;
for?k=1:len
????wbib?=?imu（k1:3）‘/Ts;
????fbsf?=?imu（k4:6）‘/Ts;
????qnb?=?qmul（?qnb?rv2q（（wbib-qmulv（qconj（qnb）wnie+wnc））*Ts）?）;??%?帶反饋控制項wnc的姿態更新
????fn?=?qmulv（qnb?fbsf）;??%?比力變換
????attk（k:）?=

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????211??2008-03-22?19:49??SINS仿真程序-嚴老師\basefun\a2caw.m

?????文件????????297??2008-02-21?18:56??SINS仿真程序-嚴老師\basefun\a2cnb.m

?????文件????????193??2008-03-22?19:50??SINS仿真程序-嚴老師\basefun\a2cwa.m

?????文件?????????55??2008-02-21?18:57??SINS仿真程序-嚴老師\basefun\a2qnb.m

?????文件???????1281??2011-09-03?16:57??SINS仿真程序-嚴老師\basefun\AlignCorse.m

?????文件???????1077??2011-08-28?22:33??SINS仿真程序-嚴老師\basefun\AlignCorse1.m

?????文件???????1250??2011-10-14?21:26??SINS仿真程序-嚴老師\basefun\align_i0.m

?????文件???????1387??2011-10-14?22:11??SINS仿真程序-嚴老師\basefun\align_i0_1.m

?????文件????????131??2008-02-25?16:05??SINS仿真程序-嚴老師\basefun\askew.m

?????文件????????482??2007-11-25?20:17??SINS仿真程序-嚴老師\basefun\cnscl.m

?????文件????????973??2011-08-27?15:29??SINS仿真程序-嚴老師\basefun\compassCmd.m

?????文件????????554??2009-06-05?11:08??SINS仿真程序-嚴老師\basefun\compasskxyz.m

?????文件????????365??2011-06-02?21:06??SINS仿真程序-嚴老師\basefun\DR.m

?????文件????????960??2011-06-17?19:26??SINS仿真程序-嚴老師\basefun\drift_bias.m

?????文件????????481??2011-08-08?15:38??SINS仿真程序-嚴老師\basefun\dv2atti.m

?????文件????????595??2009-06-18?23:04??SINS仿真程序-嚴老師\basefun\earth.m

?????文件????????454??2012-02-02?20:26??SINS仿真程序-嚴老師\basefun\ekf.m

?????文件???????1179??2011-08-27?09:55??SINS仿真程序-嚴老師\basefun\etm.m

?????文件???????1143??2009-06-04?17:09??SINS仿真程序-嚴老師\basefun\getf.m

?????文件???????1285??2011-06-06?17:44??SINS仿真程序-嚴老師\basefun\getf_DR.m

?????文件???????1634??2011-07-25?20:30??SINS仿真程序-嚴老師\basefun\glvs.m

?????文件????????511??2011-06-06?21:13??SINS仿真程序-嚴老師\basefun\ImuAddErr.m

?????文件????????229??2011-06-03?10:39??SINS仿真程序-嚴老師\basefun\ImuStatic.m

?????文件????????556??2011-03-26?10:38??SINS仿真程序-嚴老師\basefun\kalman.m

?????文件????????683??2008-03-24?16:54??SINS仿真程序-嚴老師\basefun\kfdis.m

?????文件????????347??2009-02-11?11:08??SINS仿真程序-嚴老師\basefun\large_phi_model.m

?????文件????????138??2008-02-21?18:30??SINS仿真程序-嚴老師\basefun\m2att.m

?????文件????????382??2008-02-21?18:56??SINS仿真程序-嚴老師\basefun\m2qnb.m

?????文件????????419??2009-06-03?08:58??SINS仿真程序-嚴老師\basefun\make_dll.m

?????文件????????986??2011-06-02?16:31??SINS仿真程序-嚴老師\basefun\markov.m

............此處省略78個文件信息