%GPS/INS组合导航
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%edit by horsejun
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%量测信号: 位置
%INS输出数据由simulink计算得出
clear
clc
%得到轨迹信号
load ode500
Re = 6378245; %地球长半径
%真实轨迹
a_R = yout(:,1:3);
v_R = yout(:,4:6);
p_R = yout(:,7:9);
%加噪声后的INS计算结果
a_ins = yout(:,10:12);
v_ins = yout(:,13:15);
p_ins = yout(:,16:18);
quat = yout(:,19:22); %姿态四元数
Fn = yout(:,23:25); %地理系下的比力
%惯导相关的噪声统计数据
Q_wg = (0.04/(57*3600))^2; %陀螺马氏过程
Q_wr = (0.01/(57*3600))^2; %陀螺白噪声