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
-----------?---------??----------?-----??----

?????文件???????1892??1998-07-28?02:53??INS?toolbox?3.0\慣導工具箱\bodupdat.m

?????文件???????2554??1998-07-26?07:56??INS?toolbox?3.0\慣導工具箱\coriolis.m

?????文件???????3690??1998-08-13?06:45??INS?toolbox?3.0\慣導工具箱\crafrate.m

?????文件???????1156??1998-07-26?07:56??INS?toolbox?3.0\慣導工具箱\dcm2eulr.m

?????文件???????1104??1998-07-26?07:55??INS?toolbox?3.0\慣導工具箱\dcm2llw.m

?????文件???????1343??1997-12-31?04:42??INS?toolbox?3.0\慣導工具箱\dcm2qua.m

?????文件???????1610??1998-08-04?01:27??INS?toolbox?3.0\慣導工具箱\dcmelgen.m

?????文件???????1558??1998-07-19?01:46??INS?toolbox?3.0\慣導工具箱\dcmnbgen.m

?????文件???????1075??1998-08-04?01:28??INS?toolbox?3.0\慣導工具箱\dem01plt.m

?????文件???????1601??1998-07-31?08:43??INS?toolbox?3.0\慣導工具箱\dem03gen.m

?????文件???????2861??1998-06-17?07:27??INS?toolbox?3.0\慣導工具箱\earthrot.m

?????文件???????1493??1998-07-31?06:24??INS?toolbox?3.0\慣導工具箱\enu2xyz.m

?????文件???????1334??1997-12-24?07:53??INS?toolbox?3.0\慣導工具箱\eulr2dcm.m

?????文件???????1471??1997-12-31?04:31??INS?toolbox?3.0\慣導工具箱\eulr2qua.m

?????文件????????640??1998-04-14?02:51??INS?toolbox?3.0\慣導工具箱\extrapol.m

?????文件???????3455??1998-08-04?01:30??INS?toolbox?3.0\慣導工具箱\gendelcr.m

?????文件???????1811??1998-07-30?08:47??INS?toolbox?3.0\慣導工具箱\gendthet.m

?????文件???????1370??1998-08-04?01:31??INS?toolbox?3.0\慣導工具箱\gendv.m

?????文件???????3611??1999-04-26?08:54??INS?toolbox?3.0\慣導工具箱\gendvcor.m

?????文件???????2684??1998-07-26?08:41??INS?toolbox?3.0\慣導工具箱\gendverr.m

?????文件???????3043??1998-08-02?01:38??INS?toolbox?3.0\慣導工具箱\gentherr.m

?????文件???????1330??1998-08-04?01:33??INS?toolbox?3.0\慣導工具箱\genvelpr.m

?????文件???????1016??1998-07-27?09:03??INS?toolbox?3.0\慣導工具箱\gravity.m

?????文件???????3869??1999-04-26?07:17??INS?toolbox?3.0\慣導工具箱\greatcir.m

?????文件?????614912??2007-03-05?23:37??INS?toolbox?3.0\慣導工具箱\INS?Toolbox2003.doc

?????文件???????1756??1998-07-31?06:54??INS?toolbox?3.0\慣導工具箱\insdem01.m

?????文件???????4463??1998-07-31?08:54??INS?toolbox?3.0\慣導工具箱\insdem02.m

?????文件???????4464??1998-07-31?09:05??INS?toolbox?3.0\慣導工具箱\insdem03.m

?????文件???????2208??1998-07-31?09:29??INS?toolbox?3.0\慣導工具箱\insdem04.m

?????文件???????5452??1998-08-02?08:10??INS?toolbox?3.0\慣導工具箱\insdem05.m

............此處省略31個文件信息