function?[delta_r_eb_ndelta_v_eb_ndelta_eul_nb_n]?=?Calculate_errors_NED（...
????????est_L_best_lambda_best_h_best_v_eb_nest_C_b_ntrue_L_b...
????????true_lambda_btrue_h_btrue_v_eb_ntrue_C_b_n）
%Calculate_errors_NED?-?Calculates?the?position?velocity?and?attitude
%?errors?of?a?NED?navigation?solution.
%
%?Software?for?use?with?“Principles?of?GNSS?Inertial?and?Multisensor
%?Integrated?Navigation?Systems“?Second?Edition.
%
%?This?function?created?3/4/2012?by?Paul?Groves
%
%?Inputs:
%???est_L_b???????latitude?solution?（rad）
%???est_lambda_b??longitude?solution?（rad）
%???est_h_b???????height?solution?（m）
%???est_v_eb_n????velocity?solution?of?body?frame?w.r.t.?ECEF?frame
%?????????????????resolved?along?north?east?and?down?（m/s）
%???est_C_b_n?????body-to-NED?coordinate?transformation?matrix?solution
%???true_L_b??????true?latitude?（rad）
%???true_lambda_b?true?longitude?（rad）
%???true_h_b??????true?height?（m）
%???true_v_eb_n???true?velocity?of?body?frame?w.r.t.?ECEF?frame?resolved
%?????????????????along?north?east?and?down?（m/s）
%???C_b_n?????????true?body-to-NED?coordinate?transformation?matrix
%
%?Outputs:
%???delta_r_eb_n?????position?error?resolved?along?NED?（m）
%???delta_v_eb_n?????velocity?error?resolved?along?NED?（m/s）
%???delta_eul_nb_n???attitude?error?as?NED?Euler?angles?（rad）
%????????????????????These?are?expressed?about?north?east?and?down

%?Copyright?2012?Paul?Groves
%?License:?BSD;?see?license.txt?for?details

%?Begins

%?Position?error?calculation?using?（2.119）
[R_NR_E]?=?Radii_of_curvature（true_L_b）;
delta_r_eb_n（1）?=?（est_L_b?-?true_L_b）?*?（R_N?+?true_h_b）;
delta_r_eb_n（2）?=?（est_lambda_b?-?true_lambda_b）?*?（R_E?+?true_h_b）?*...
????cos（true_L_b）;
delta_r_eb_n（3）?=?-（est_h_b?-?true_h_b）;

%?Velocity?error?calculation
delta_v_eb_n?=?est_v_eb_n?-?true_v_eb_n;

%?Attitude?error?calculation?using?（5.109）?and?（5.111）
delta_C_b_n?=?est_C_b_n?*?true_C_b_n‘;
delta_eul_nb_n?=?-CTM_to_Euler（delta_C_b_n）;
????
%?Ends

?屬性????????????大小?????日期????時間???名稱
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?????文件???????2032??2012-05-28?00:17??simulation_deng?-?副本\Calculate_errors_NED.m

?????文件????????827??2012-07-01?20:29??simulation_deng?-?副本\CTM_to_Euler.m

?????文件???????6227??2017-12-28?15:49??simulation_deng?-?副本\deng1.m

?????文件???????2529??2012-07-01?20:29??simulation_deng?-?副本\ECEF_to_NED.m

?????文件???????1316??2012-07-01?20:30??simulation_deng?-?副本\Euler_to_CTM.m

?????文件???????1446??2012-05-28?00:19??simulation_deng?-?副本\Gravity_ECEF.m

?????文件???????1336??2012-05-28?00:19??simulation_deng?-?副本\Gravity_NED.m

?????文件????1350059??2017-12-27?16:49??simulation_deng?-?副本\IMU_test1.txt

?????文件???????1278??2012-05-28?00:21??simulation_deng?-?副本\Initialize_LC_P_matrix.m

?????文件????????874??2012-05-28?00:22??simulation_deng?-?副本\Initialize_NED_attitude.m

?????文件???????3736??2012-05-28?00:23??simulation_deng?-?副本\Kinematics_ECEF.m

?????文件???????5640??2012-07-08?17:30??simulation_deng?-?副本\LC_KF_Epoch.m

?????文件??????13269??2017-12-28?16:22??simulation_deng?-?副本\Loosely_coupled_INS_GNSS_deng.m

?????文件???????3494??2012-05-28?00:24??simulation_deng?-?副本\Nav_equations_ECEF.m

?????文件???????2015??2012-07-01?20:33??simulation_deng?-?副本\NED_to_ECEF.m

?????文件???????3041??2012-05-28?00:24??simulation_deng?-?副本\Plot_errors.m

?????文件???????3124??2012-05-28?00:24??simulation_deng?-?副本\Plot_profile.m

?????文件???????2289??2012-05-28?00:24??simulation_deng?-?副本\pv_ECEF_to_NED.m

?????文件????????871??2012-05-28?00:24??simulation_deng?-?副本\Radii_of_curvature.m

?????文件????????529??2012-05-28?00:25??simulation_deng?-?副本\Skew_symmetric.m

?????目錄??????????0??2017-12-28?17:04??simulation_deng?-?副本

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??????????????1405932????????????????????21