%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%???姿態(tài)測量仿真?（直接法）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?[sigmaP?sigmaY?sigmaR]=?zitaiError（sigma?L?sigmabaseline）;

if?nargin?==?0
????sigma?=?[4?5?6];???????%???x?yz的偏差（mm）
????L?=?[20?20];??????????%???基線長（m）
????sigmabaseline?=?0;????%????基線對x，y，z偏差的影響（mm）?
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%???俯仰角誤差
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

sigmaMax?=?max（sigma）;
sigmaP?=?（sigmaMax?+?sigmabaseline）?/?（L（1）?*?250）*180/3.14?;??%???俯仰角的標準差
errorP?=?sigmaP?.*?randn（1?250）;????????????????????%???俯仰角的誤差值

figure（1）;
plot（errorP）;
errorMeanP?=?mean（errorP）;
errorMeanP
errorStdP?=?std（errorP）;
errorStdP
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%???航偏角誤差
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

minCosP?=?min（cos（errorP））;
sigmaMax?=?max（sigma（11:2））;
sigmaY?=?（sigmaMax?+?sigmabaseline）*180/3.14?/?（L（1）?*?250?*?minCosP）;??%???航偏角標準差
errorY?=?sigmaY?.*?randn（1?250）;??%???航偏角誤差值

figure（2）;
plot（errorY）;
errorMeanY?=?mean（errorY）;
errorMeanY
errorStdY?=?std（errorY）;
errorStdY

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%???橫滾角誤差
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

sigmaX2?=?cos（errorY）?.^?2?.*?sigma（1）?.^2?+?sin（errorY）?.^?2?.*?sigma（2）?.^?2;
sigmaZ2?=?sin（errorP）?.^?2?.*?sin（errorY）?.^?2?.*?sigma（1）?.^?2?+?sin（errorP）?.^?2?.*?cos（errorY）?.^?2?.*?sigma（2）?.^?2?+?cos（errorP）?.^?2?.*?sigma（3）?.^?2;

x?=?sqrt（sigmaX2）?.*?randn（1?250）;
y?=?sqrt（sigmaZ2）?.*?randn（1?250）;

sigmaMax?=?max（[abs（x）?abs（y）]）;
sigmaR?=?（sigmaMax?+?sigmabaseline）*180/3.14?/?（L（2）?*?250）;????%??橫滾角標準差?
errorR?=?sigmaR?.*?（randn（1?250）*60）;???%???橫滾角誤差值

figure（3）;
plot（errorR）;
errorMeanR?=?mean（errorR）;
errorMeanR
errorStdR?=?std（errorR）;
errorStdR

?屬性????????????大小?????日期????時間???名稱
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????.CA....??????1819??2007-04-08?21:28??基于直接法的GPS姿態(tài)測量仿真程序\directattitudeError.m

????.C.D...?????????0??2009-11-13?09:59??基于直接法的GPS姿態(tài)測量仿真程序

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?????????????????1819????????????????????2