disp（‘初始化‘）;
%%%%%%%地球數據
WIE??=?7.292115e-5?;%（地球自轉角速度，弧度制commented?by?LiYou）
e???=?0.0818191908426;
R???=?6378137.0;
Tm?=?0.01;
%%%%%%%速度初值
Vn?=?0;
Vt?=?0;
Ve?=?0;
V_last?=?[VnVtVe]‘;
%%%位置初值
Lati??=?28.2202*pi/180;
Longti?=?112.9916*pi/180;
Alti??????=?0;
g0=9.7803267711905*（1+0.00193185138639*sin（Lati）^2）/（（1-0.00669437999013*sin（Lati）^2）^0.5*（1.0+Alti/R）^2）;
Pos?=?zeros（31）;
disp（‘初始化完成‘）;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%?初?始?化?完?成?%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%載?入?數?據?%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
disp（‘載入數據‘）;
load?d_GyroAcc2012.dat
[row?columu]?=?size（d_GyroAcc2012）;
disp（‘載入數據完成‘）
%%%%%%%%%%%%%%%%%%%%%%載?入?數?據?完?成?%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%???解?析?初?對?準?%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
disp（‘解析粗對準開