function?[qua_n?DCMbn_n?euler]?=?att_update（wb?DCMbn?qua?omega_ie_N?omega_en_N?dt?att_mode）
%?att_update:?updates?attitude?using?quaternion?or?DCM.
%
%?INPUT:
%???wb?????????3x1?incremental?turn-rates?in?body-frame?（rad/s）.
%???DCMbn??????3x3?body-to-nav?DCM.
%???qua????????4x1?quaternion.
%???omega_ie_N?3x1?Earth?rate?（rad/s）.
%???omega_en_N?3x1?Transport?rate?（rad/s）.
%???dt?????????1x1?INS?time?period?（s）.
%	att_mode???attitude?mode?string.
%??????‘quaternion‘:?attitude?updated?in?quaternion?format.?Default?value.
%?????????????‘dcm‘:?attitude?updated?in?Direct?Cosine?Matrix?format.
%
%?OUTPUT:
%???qua_n??????4x1?updated?quaternion.
%???DCMbn_n????3x3?updated?body-to-nav?DCM.
%???euler??????3x1?updated?Euler?angles?（rad）.
%
%???Copyright?（C）?2014?Rodrigo?Gonzalez?all?rights?reserved.
%
%???This?file?is?part?of?NaveGo?an?open-source?MATLAB?toolbox?for
%???simulation?of?integrated?navigation?systems.
%
%???NaveGo?is?free?software:?you?can?redistribute?it?and/or?modify
%???it?under?the?terms?of?the?GNU?Lesser?General?Public?License?（LGPL）
%???version?3?as?published?by?the?Free?Software?Foundation.
%
%???This?program?is?distributed?in?the?hope?that?it?will?be?useful
%???but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
%???MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
%???GNU?Lesser?General?Public?License?for?more?details.
%
%???You?should?have?received?a?copy?of?the?GNU?Lesser?General?Public
%???License?along?with?this?program.?If?not?see
%???.
%
%?Reference:
%			Crassidis?J.L.?and?Junkins?J.L.?（2011）.?Optimal?Esti-
%?mation?of?Dynamic?Systems?2nd?Ed.?Chapman?and?Hall/CRC?USA.
%?Eq.?7.39?p.?458.
%
%?Version:?003
%?Date:????2016/11/26
%?Author:??Rodrigo?Gonzalez?
%?URL:?????https://github.com/rodralez/navego

if?nargin?
%%?Correct?gyros?output?for?Earth?rate?and?Transport?rate

wb_n?=?（?wb?-?DCMbn‘?*?（omega_ie_N?+?omega_en_N））;

if?strcmp（att_mode?‘quaternion‘）
%%?Quaternion?update???

????qua_n???=?qua_update（qua?wb_n?dt）;????%?Update?quaternion
????qua_n???=?qua_n?/?norm（qua_n）;??????????%?Brute-force?normalization
????DCMbn_n?=?qua2dcm（qua_n）;???????????????%?Update?DCM
????euler???=?qua2euler（qua_n）;?????????????%?Update?Euler?angles
????
elseif?strcmp（att_mode?‘dcm‘）
%%?DCM?update????
????
????euler_i?=?wb_n?*?dt;????????????????????%?Incremental?Euler?angles?
????DCMbn_n?=?dcm_update（DCMbn?euler_i）;???%?Update?DCM
????euler???=?dcm2euler（DCMbn_n）;???????????%?Update?Euler?angles
????qua_n???=?euler2qua（euler）;?????????????%?Update?quaternion
????qua_n???=?qua_n?/?norm（qua_n）;??????????%?Brute-force?normalization
????
else
????error（‘a(chǎn)tt_update:?no?attitude?update?mode?defined.‘）
end

end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

????.......??????1564??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\allan-variance\allan_get_bdrift.m

????.......??????2158??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\allan-variance\allan_get_rw.m

????.......??????8207??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\allan-variance\allan_imu.m

????.......?????21604??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\allan-variance\allan_overlap.m

????.......??????9963??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\allan-variance\dsplot.m

????.......??????2792??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\att_update.m

????.......??????1725??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\dcm2euler.m

????.......??????2486??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\ecef2llh.m

????.......??????1893??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\ecef2ned.m

????.......??????1764??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\euler2dcm.m

????.......??????1861??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\euler2qua.m

????.......??????1624??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\ned2ecef.m

????.......??????2110??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\qua2dcm.m

????.......??????1548??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\qua2euler.m

????.......??????2037??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\qua2euler_m.m

????.......??????1351??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\conversions\skewm.m

????.......??????1555??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\coriolis.m

????.......??????9943??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\data-adquition\microstrain_read.m

????.......??????8029??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\data-adquition\rinex_read.m

????.......??????4886??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\data-adquition\rtknavi_read.m

????.......??????4357??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\data-adquition\rtkpos_read.m

????.......??????1622??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\dcm_update.m

????.......??????1538??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\earthrate.m

????.......??????6581??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\alla-variance\navego_allan_example.m

????.......??34723583??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\alla-variance\stim300.mat

????.......????259166??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\real-data\gnss.mat

????.......??16771232??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\real-data\imu.mat

????.......?????47074??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\real-data\navego_example_real.kml

????.......??????4588??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\real-data\navego_example_real.m

????.......????112250??2018-12-12?22:21??GPS+IMU數(shù)據(jù)融合MATLAB程序\examples\real-data\ref.mat

............此處省略49個(gè)文件信息