Inertial-Navigation-System-program

代码说明：

  严恭敏老师编写的SINS的Matlab仿真程序，包括大方位误差角扩展卡尔曼（EKF），滤波初始对准仿真，静态惯导/星敏感器组合，大姿态误差角非线性状态模型，UKF滤波。(Yan Gong Min teacher preparation SINS of Matlab simulation program, including large azimuth error extended Kalman (EKF), filtering initial alignment simulation, static INS/Star Sensor, big attitude error angle nonlinear state model, UKF filter.)

文件列表：

SINS仿真程序-严老师
...................\basefun
...................\.......\a2caw.m,211,2008-03-22
...................\.......\a2cnb.m,297,2008-02-21
...................\.......\a2cwa.m,193,2008-03-22
...................\.......\a2qnb.m,55,2008-02-21
...................\.......\AlignCorse.m,1281,2011-09-03
...................\.......\AlignCorse1.m,1077,2011-08-28
...................\.......\align_i0.m,1250,2011-10-14
...................\.......\align_i0_1.m,1387,2011-10-14
...................\.......\askew.m,131,2008-02-25
...................\.......\cnscl.m,482,2007-11-25
...................\.......\compassCmd.m,973,2011-08-27
...................\.......\compasskxyz.m,554,2009-06-05
...................\.......\DR.m,365,2011-06-02
...................\.......\drift_bias.m,960,2011-06-17
...................\.......\dv2atti.m,481,2011-08-08
...................\.......\earth.m,595,2009-06-18
...................\.......\ekf.m,454,2012-02-02
...................\.......\etm.m,1179,2011-08-27
...................\.......\getf.m,1143,2009-06-04
...................\.......\getf_DR.m,1285,2011-06-06
...................\.......\glvs.m,1634,2011-07-25
...................\.......\ImuAddErr.m,511,2011-06-06
...................\.......\ImuStatic.m,229,2011-06-03
...................\.......\kalman.m,556,2011-03-26
...................\.......\kfdis.m,683,2008-03-24
...................\.......\large_phi_model.m,347,2009-02-11
...................\.......\m2att.m,138,2008-02-21
...................\.......\m2qnb.m,382,2008-02-21
...................\.......\make_dll.m,419,2009-06-03
...................\.......\markov.m,986,2011-06-02
...................\.......\nav_err.m,237,2011-06-06
...................\.......\nav_init.m,853,2011-06-02
...................\.......\p2cne.m,222,2010-05-05
...................\.......\prls.m,576,2010-06-07
...................\.......\q2att.m,55,2008-02-21
...................\.......\q2cnb.m,455,2009-02-05
...................\.......\q2rv.m,177,2009-02-05
...................\.......\qaddafa.m,110,2012-02-03
...................\.......\qaddphi.m,67,2008-03-24
...................\.......\qconj.m,52,2007-11-21
...................\.......\qdelafa.m,66,2012-02-03
...................\.......\qdelphi.m,65,2009-02-05
...................\.......\qmul.m,327,2007-11-22
...................\.......\qmulv.m,102,2007-11-25
...................\.......\qq2afa.m,148,2012-02-02
...................\.......\qq2phi.m,87,2008-03-31
...................\.......\rfu.m,1139,2009-06-01
...................\.......\RLS.m,201,2010-06-07
...................\.......\rv2q.m,599,2009-04-05
...................\.......\sins.m,482,2009-06-04
...................\.......\sv2atti.m,215,2011-08-28
...................\.......\timedisp.m,108,2011-06-04
...................\.......\trj.m,858,2009-06-04
...................\.......\ukf.m,916,2009-02-11
...................\data
...................\....\imu.dat,862082,2010-06-03
...................\....\lgimu.dat,3386670,2009-06-04
...................\....\trj100ms.mat,1080440,2011-08-12
...................\readme.txt,4800,2012-02-03
...................\test_align_compass_lgimu.m,1347,2011-10-14
...................\test_align_compass_moving.m,1367,2011-06-17
...................\test_align_compass_reverse.m,1871,2011-06-17
...................\test_align_compass_static.m,1126,2011-06-17
...................\test_align_ekf_10.m,3515,2012-02-03
...................\test_align_ekf_5.m,3410,2012-02-03
...................\test_align_kalman_fn.m,1833,2011-06-17
...................\test_align_kalman_vn_lgimu.m,2075,2011-06-17
...................\test_align_para_reco_lgimu.m,1491,2011-06-06
...................\test_align_ukf.m,1689,2012-02-03
...................\test_cone_error.m,1377,2011-10-30
...................\test_DR.m,1189,2011-06-17
...................\test_drift_random_walk.m,589,2011-06-17
...................\test_scull_error.m,1237,2009-07-04
...................\test_sins.m,1083,2011-06-17
...................\test_sins_ccd.m,2543,2012-02-03
...................\test_SINS_DR.m,2562,2011-06-17
...................\test_SINS_err_verify.m,1102,2011-06-17
...................\test_SINS_GPS.m,2114,2011-06-17
...................\test_SINS_GPS_static.m,2030,2011-06-17
...................\test_sins_static.m,976,2011-06-17
...................\test_sins_static_err.m,930,2011-07-25
...................\test_sins_static_long_time.m,948,2011-06-17
...................\test_transfer_align.m,2453,2011-06-02
...................\test_transfer_imu_sim.m,1693,2011-06-17
...................\test_transfer_trj.m,2255,2010-04-06
...................\test_trj.m,2688,2011-06-06
...................\test_trj_swagging.m,2203,2010-06-09
...................\tools
...................\.....\avar.m,782,2011-09-03
...................\.....\d2r.m,49,2010-10-29
...................\.....\dm2r.m,100,2010-10-29
...................\.....\dms2r.m,160,2010-10-29
...................\.....\foie.m,207,2011-08-28
...................\.....\gpx.m,1011,2011-08-11
...................\.....\incre.m,145,2011-08-09
...................\.....\incre_save.m,395,2011-08-10
...................\.....\meann.m,307,2009-04-16
...................\.....\r2d.m,49,2010-10-29