function?[DCMbn_newDCMbb]?=?bodupdat（DCMbn_oldang_vect）
%BODUPDAT		Update?the?direction?cosine?matrix
%??????????????for?body?motion?（relative?to?inertial?space）.
%??????????????The?function?is?thus?acting?upon?the?strapdown
%??????????????gyro?outputs.
%???????
%	DCMbn_new?=?bodupdat（DCMbn_oldang_vect）
%?????or
%??[DCMbn_newDCMbb]?=?bodupdat（DCMbn_oldang_vect）
%
%???INPUTS
%???????DCMbn_old??=?current?direction?cosine?matrix?providing?the
%????????????????????transformation?from?body?to?nav?coordinates
%
%???????ang_vect?=?incremental?integral?of?body?angular
%??????????????????rate?vector;?in?the?absence?of?coning
%??????????????????（i.e.?angular?rate?vector?is?constant
%??????????????????over?the?integration?interval）?this
%??????????????????is?the?output?of?the?rate-integrating
%??????????????????gyros.
%??????????ang_vect（1）?=?x-component?（roll）;
%??????????ang_vect（2）?=?y-component?（pitch）;
%??????????ang_vect（3）?=?z-component?（yaw）;
%
%???OUTPUTS
%???????DCMbn_new?=?updated?direction?cosine?matrix?relating?the
%???????????????????current?body-frame?to?the?previous
%???????????????????navigation-frame.??Note?that?the?update?of
%???????????????????the?navigation?frame?（which?is?related?to
%???????????????????the?local-level?frame）?is?accomplished?in
%???????????????????function?LCLEVUPD
%
%???????DCMbb?=?direction?cosine?matrix?providing?the
%???????????????transformation?from?the?body?coordinates?at
%???????????????time?k+1?to?the?body?coordinates?at?time?k
%

%	M.?&?S.?Braasch?4-98
%	Copyright?（c）?1997-98?by?GPSoft?LLC
%	All?Rights?Reserved.
%

if?nargin<2error（‘insufficient?number?of?input?arguments‘）end

S?=?skewsymm（ang_vect）;
magn?=?norm（ang_vect）;
if?magn?==?0
???DCMbb?=?eye（3）;
else
???DCMbb?=?eye（3）?+?（sin（magn）/magn）*S?+?（?（1-cos（magn））/magn^2?）*S*S;
end
DCMbn_new?=?DCMbn_old*DCMbb;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-08?20:41??慣導工具箱\
?????文件????????1892??1998-07-28?17:53??慣導工具箱\bodupdat.m
?????文件????????2554??1998-07-26?22:56??慣導工具箱\coriolis.m
?????文件????????3690??1998-08-13?21:45??慣導工具箱\crafrate.m
?????文件????????1156??1998-07-26?22:56??慣導工具箱\dcm2eulr.m
?????文件????????1104??1998-07-26?22:55??慣導工具箱\dcm2llw.m
?????文件????????1343??1997-12-31?19:42??慣導工具箱\dcm2qua.m
?????文件????????1610??1998-08-04?16:27??慣導工具箱\dcmelgen.m
?????文件????????1558??1998-07-19?16:46??慣導工具箱\dcmnbgen.m
?????文件????????1075??1998-08-04?16:28??慣導工具箱\dem01plt.m
?????文件????????1601??1998-07-31?23:43??慣導工具箱\dem03gen.m
?????文件????????2861??1998-06-17?22:27??慣導工具箱\earthrot.m
?????文件????????1493??1998-07-31?21:24??慣導工具箱\enu2xyz.m
?????文件????????1334??1997-12-24?22:53??慣導工具箱\eulr2dcm.m
?????文件????????1471??1997-12-31?19:31??慣導工具箱\eulr2qua.m
?????文件?????????640??1998-04-14?17:51??慣導工具箱\extrapol.m
?????文件????????3455??1998-08-04?16:30??慣導工具箱\gendelcr.m
?????文件????????1811??1998-07-30?23:47??慣導工具箱\gendthet.m
?????文件????????1370??1998-08-04?16:31??慣導工具箱\gendv.m
?????文件????????3611??1999-04-26?23:54??慣導工具箱\gendvcor.m
?????文件????????2684??1998-07-26?23:41??慣導工具箱\gendverr.m
?????文件????????3043??1998-08-02?16:38??慣導工具箱\gentherr.m
?????文件????????1330??1998-08-04?16:33??慣導工具箱\genvelpr.m
?????文件????????1016??1998-07-28?00:03??慣導工具箱\gravity.m
?????文件????????3869??1999-04-26?22:17??慣導工具箱\greatcir.m
?????文件??????614912??2007-03-06?14:37??慣導工具箱\INS?Toolbox2003.doc
?????文件????????1756??1998-07-31?21:54??慣導工具箱\insdem01.m
?????文件????????4463??1998-07-31?23:54??慣導工具箱\insdem02.m
?????文件????????4464??1998-08-01?00:05??慣導工具箱\insdem03.m
?????文件????????2208??1998-08-01?00:29??慣導工具箱\insdem04.m
?????文件????????5452??1998-08-02?23:10??慣導工具箱\insdem05.m
............此處省略36個文件信息