clc;
clear?all;
format?long;
%%%%%%%%%%%%%%%%%%%%%%%%%常量數據設定%%%%%%%%%%%%%%%%%%%%%%%%%
ts=0.02;%采樣間隔為20ms
omegaedot=7.2921151467e-5;
GM=3.986005e14;
f=1/298.257223563;
e=sqrt（f*（2-f））;
tal=60;
Nop=tal/ts+1;
loc_x0=0;
loc_y0=0;
loc_z0=0;
x0=1.545203817775705e+006;%用戶初始位置x坐標
y0=4.245412597793822e+006;%用戶初始位置y坐標
z0=4.487631251578394e+006;%用戶初始位置z坐標
%%%%%%%%%%%%%%%%%%%%%%%%%常量數據設定%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%載體軌跡設定%%%%%%%%%%%%%%%%%%%%%%%%%
?%采樣速率為50Hz，先做一段勻速運動做試驗作為驗證Kalman濾波的數據
?i=0:ts:tal;%沿x軸加速運動
?j=0.02:ts:120;%沿x軸勻速直線運動
?k=0.02:ts:120;%沿y軸勻速直線運動
?l=0.02:0.02:120;%沿z軸勻速直線運動
?%初始化位置，初速度設為零
?x0=1.545203817775705e+006;
?y0=4.245412597793822e+006;
?z0=4.487631251578394e+006;
?%第一次運動，沿x軸做勻速直線運動，時間為1min
?vx1=0*i+10;
?vy1=0*i+12;
?vz1=0*i+15;

?屬性????????????大小?????日期????時間???名稱
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?????文件??????20303??2011-04-19?11:41??GPS_Kalman.m

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????????????????20303????????????????????1