严恭敏老师PSINS工具箱解读——imuadderr

感谢严老师的无私奉献 

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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, imuerr, ts)
% Inputs:    imu - raw SIMU data
%         imuerr - SIMU error struture array
%             ts - SIMU sample interval
% Output:    imu - output SIMU data added errors
%
% See also  imuerrset, imuclbt, imudeldrift, imuasyn, imugsensi, avperrset, trjsimu, insupdate.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 11/09/2013, 06/03/2014, 21/07/2015, 17/08/2016, 24/02/2017, 24/07/2020

    if nargin<3,  ts = imu(2,7)-imu(1,7);  end——'计算采样间隔'
    
    if isfield(imuerr, 'rx')——'imu误差中包含内杠杆臂'
        wb = imu(:,1:3)/ts;
        dotwf = imudot(imu, 5.0);
        fL &#