%%========================================
%%?????Toolbox?for?attitude?determination
%%?????Zhen?Dai
%%?????dai@zess.uni-siegen.de
%%?????ZESS?University?of?Siegen?Germany
%%?????Last?Modified??:?1.Sep.2008
%%========================================
%%?Functions:
%%??????Direct?attitude?determination
%%?Input?parameters:?????
%%??????vSlaveAntLocal1vSlaveAntLocal2:
%%??????????->Local?level?coordinates?of?the?1st?and?2nd?slave?antennas.
%%??????????The?order?of?both?can?not?be?confused?otherwise?another?body
%%??????????frame?will?be?produced.?????
%%?Output:
%%??????yaw_degroll_degpitch_deg:
%%??????????->?Attitude?parameters?expressed?in?Euler?angles?in?degrees.
%%?Remarks:
%%??????Master?antenna?coordinate?is?not?needed?beccause?it?is?always?[0?0?0]
%%??Reference:
%%??????B.Hofmann-Wellenhof?H.Lichtenegger?and?J.Collins:?GPS?Theory
%%??????and?practice.?2001.?Fifth?revised?edition.?Springer?Wien?New?York.
%%??????pp.327-328.

function?[yaw_degroll_degpitch_deg]=AD_Direct（vSlaveAntLocal1vSlaveAntLocal2）
%%?~~~~~~~~~~~~?Step?1?~~~~~~~~~~~~~~~
%%?Using?Ant?2?to?derive?yaw?and?pitch
%%?~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
x2=vSlaveAntLocal1（1）;
y2=vSlaveAntLocal1（2）;
z2=vSlaveAntLocal1（3）;
x3=vSlaveAntLocal2（1）;
y3=vSlaveAntLocal2（2）;
z3=vSlaveAntLocal2（3）;
%%?Get?yaw
yaw_arc=-atan（x2/y2）;
yaw_deg=GetAngleDeg（yaw_arc）;
%%?Get?pitch
pitch_arc=atan（z2/sqrt（x2*x2+y2*y2））;
pitch_deg=GetAngleDeg（pitch_arc）;

%%?~~~~~~~~~~~~?Step?2?~~~~~~~~~~~~~~~
%%?Rotate?Ant?3?to?derive?roll
%%~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

%%?1st?rotation?matrix--?rotate?about?Z?by?yaw
R3=[cos（yaw_arc）?sin（yaw_arc）?0;...
????-sin（yaw_arc）???cos（yaw_arc）?0;...
????0??????????????????0?????????????1];
%%?2nd?rotation?matrix--?rotate?about?X‘?by?pitch
R1=[1????????????????0??????????????0;
????0?????cos（pitch_arc）?sin（pitch_arc）;
????0??????-sin（pitch_arc）?cos（pitch_arc）];
%%?Now?rotate?the?Ant?3
mRotation1=R3*[x3?y3?z3]‘;
mRotation2=R1*mRotation1;

%%?~~~~~~~~~~~~?Step?2?~~~~~~~~~~~~~~~
%%?Get?roll
%%~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
%%?Roll
roll_arc=-atan（mRotation2（3）/mRotation2（1））;
roll_deg=GetAngleDeg（roll_arc）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-31?00:13??姿態測量matlab程序\
?????文件????????2195??2008-09-03?16:42??姿態測量matlab程序\AD_Direct.m
?????文件????????4686??2008-09-03?16:42??姿態測量matlab程序\AD_LSQ.m
?????文件?????????229??2008-08-19?18:48??姿態測量matlab程序\ambiguity.mat
?????文件??????664374??2018-05-04?23:04??姿態測量matlab程序\AttDet_16_3_2009.zip
?????文件????????6546??2009-03-16?17:15??姿態測量matlab程序\ControlPanel.fig
?????文件???????13062??2018-05-05?15:15??姿態測量matlab程序\ControlPanel.m
?????文件????????1152??2009-03-16?18:17??姿態測量matlab程序\DataGUI.mat
?????文件????????4183??2008-09-03?16:42??姿態測量matlab程序\DGPS_code.m
?????文件????????4611??2008-09-03?16:42??姿態測量matlab程序\DGPS_phase.m
?????文件?????????772??2008-09-16?11:21??姿態測量matlab程序\DisplaybaselineErr.m
?????文件????????1911??2008-09-03?16:42??姿態測量matlab程序\DrawAttitudeFigure.m
?????文件????????1369??2008-09-03?16:43??姿態測量matlab程序\EarthRotation.m
?????文件????????1462??2008-09-03?16:41??姿態測量matlab程序\ECEF2ENU.m
?????文件????????1278??2009-03-16?16:56??姿態測量matlab程序\ECEF2LLH.m
?????文件?????????680??2009-03-16?17:08??姿態測量matlab程序\GetAngleDeg.m
?????文件????????2930??2018-05-08?12:00??姿態測量matlab程序\GetBodyCoordinates.m
?????文件????????1235??2008-09-03?16:49??姿態測量matlab程序\GetCombinedRotationMatrix.m
?????文件?????????825??2008-09-03?16:50??姿態測量matlab程序\GetLine80.m
?????文件????????4609??2009-03-03?10:31??姿態測量matlab程序\GetSatPosECEF.m
?????文件????????1901??2008-09-03?16:59??姿態測量matlab程序\GetWeekSeconds.m
?????文件????????6583??2008-09-03?17:01??姿態測量matlab程序\LoadRinexNav.m
?????文件???????10433??2009-03-03?10:09??姿態測量matlab程序\LoadRinexOBS.m
?????文件???????20377??2009-03-16?16:58??姿態測量matlab程序\mainpro.m
?????文件???????20576??2008-10-22?15:32??姿態測量matlab程序\mainpro_ph.m
?????文件????????6767??2008-09-16?12:43??姿態測量matlab程序\ProcessRINEX.m
?????文件??????176519??2018-05-31?00:13??姿態測量matlab程序\Readme.pdf
?????文件????????1013??2008-09-03?18:30??姿態測量matlab程序\SaveResultInFile.m
?????文件????????1981??2008-09-03?17:25??姿態測量matlab程序\SeekEpheEpoch.m
?????文件????????2048??2008-09-03?17:31??姿態測量matlab程序\SinglePointGPS.m
?????文件????????3708??2009-03-03?10:22??姿態測量matlab程序\Smoothing.m
............此處省略9個文件信息