function?[XP]?=?ahrsupdate14（measAttitude?xyz?uvw?Q?delrate?g?P）
%?This?will?update?the?KF?gains?with?an?AHRS-like?measurement
%
%?[XP]?=?ahrsupdate（measAttitude?xyz?uvw?Q?g?P）
%
%???Inputs:
%???measAttitude?=?[phi;?theta;?psi]
%???xyz?=?[X;?Y;?Z]?（est）
%???uvw?=?[u;?v;?w]?（est）
%???Q?=?[q0;?q1;?q2;?q3]?（est）
%	?delrate?=?[delp;?delq;?delr]?（est）
%???g?=?g?（est）
%???P?=?coverience?matrix
%
%?X?=?[x;?y;?z;?u;?v;?w;?q0;?q1;?q2;?q3;?delp;?delq;?delr;?g];
%?P?=?updated?coverience?matrix

global?CompSD;

x?=?[xyz;?uvw;?Q;?delrate;?g];

R?=?diag（[CompSD^2?CompSD^2?CompSD^2]）;

%?converting?heading?into?quaterinon
eul?=?quat2euler（Q‘）;


C?=?zeros（314）;
C（1?[7:10]）?=?dphidq（Q‘）;
C（2?[7:10]）?=?dthetadq（Q‘）;
C（3?[7:10]）?=?dpsidq（Q‘）;

%?get?the?E?matrix
E?=?C*P*C‘?+?R;

%?compute?t

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1393??2002-10-05?10:05??gpsins\ahrsupdate14.m

?????文件????????345??2002-10-05?09:29??gpsins\alphabeta.m

?????文件????????839??2002-10-05?10:04??gpsins\compassUpdate.m

?????文件????????841??2002-10-05?09:32??gpsins\compassUpdate11.m

?????文件????????915??2002-10-05?09:31??gpsins\compassUpdate14.m

?????文件???????1709??2002-10-05?09:29??gpsins\contents.m

?????文件????????260??2002-10-05?09:25??gpsins\dms2deg.m

?????文件????????528??2002-10-05?09:29??gpsins\dphidq.m

?????文件????????530??2002-10-05?09:29??gpsins\dpsidq.m

?????文件????????396??2002-10-05?09:29??gpsins\dthetadq.m

?????文件????????596??2002-10-05?09:30??gpsins\ecef2llh.m

?????文件????????500??2002-10-05?09:25??gpsins\ecef2tangent.m

?????文件????????636??2002-10-05?09:29??gpsins\euler2quat.m

?????文件????????655??2009-10-15?21:05??gpsins\eulerDCM.asv

?????文件????????518??2002-10-05?09:29??gpsins\eulerDCM.m

?????文件????????243??2002-10-05?09:29??gpsins\eulerWx.m

?????文件????????386??2002-10-05?09:29??gpsins\eulStrap.m

?????文件????????987??2002-10-05?09:32??gpsins\gen11a.m

?????文件???????1966??2002-10-05?09:31??gpsins\gen14a.m

?????文件????????985??2002-10-05?10:04??gpsins\gena.m

?????文件???????1056??2009-10-16?17:11??gpsins\gpsUpdate.asv

?????文件???????1049??2002-10-05?10:04??gpsins\gpsUpdate.m

?????文件???????1051??2002-10-05?09:32??gpsins\gpsUpdate11.m

?????文件???????1125??2002-10-05?09:31??gpsins\gpsUpdate14.m

?????文件???????1171??2002-10-05?09:29??gpsins\grav.m

?????文件???????6176??2007-01-26?15:51??gpsins\kf.asv

?????文件???????6208??2010-03-24?21:59??gpsins\kf.m

?????文件???????6207??2002-10-05?09:32??gpsins\kf11.m

?????文件???????7668??2010-03-26?09:31??gpsins\kf14.asv

?????文件???????7668??2010-03-26?09:31??gpsins\kf14.m

............此處省略84個文件信息