感谢严老师的无私奉献  trjfile——加载或保存轨迹数据 function trj = trjfile(fname, trj)——'加载或保存轨迹数据'% Save or load trajectory *.mat file.%% Prototype: trj = trjfile(fname, trj)% Inputs: fname - file name, with def

感谢严老师的无私奉献  imuadderr——imu数据添加误差 function imu = imuadderr(imu, imuerr, ts)% SIMU outputs adding errors simulation, denoted as:% imu = K*imu + drift error.%% Prototype: imu = imuadderr(imu,

感谢严老师的无私奉献 imuerrset——imu的误差设置 function imuerr = imuerrset(eb, db, web, wdb, sqrtR0G, TauG, sqrtR0A, TauA, dKGii, dKAii, dKGij, dKAij, KA2, rxyz, dtGA)% SIMU errors setting, including gyro & acc

avpset——对avp参数进行初始化设置 function avp = avpset(att, vn, pos) ——`对avp进行初始化设置；输入参数att、vn和pos应都为列向量或行向量，最好都为列向量`% avp=[attitude; velocity; position] setting.%% Prototype: avp = avpset(att, vn, po

glvf——对工具箱的全局变量进行初始化 function glv1 = glvf(Re, f, wie) ——`根据参考椭球的长半轴、扁率和自转角速率确定相应参考椭球的其它参数`% PSINS Toolbox global variable structure initialization. ——`对工具箱的全局变量进行初始化`%% Prototype: glv = glv