function?[nettrminImaxIminOmaxO]?=?bp（）
state=load（‘state.txt‘）;%（‘V.txt‘）
state1=load（‘state1.txt‘）;
state2=load（‘state2.txt‘）;
K1=load（‘K1.txt‘）;%
Z=[state（1:394:）?state1（1:394:）?K1（1:394:）]‘;%state（1:3941:9）?
C=[state2（1:394:）]‘;
[inputminImaxIoutputminOmaxO]=premnmx（ZC）;
net=newff（minmax（input）[111306]{‘tansig‘‘tansig‘‘tansig‘}‘traingdx‘）;
net.inputWeights{11}.initFcn?=?‘rands‘;
net.biases{11}.initFcn?=?‘rands‘;
net.biases{21}.initFcn?=?‘rands‘;
net.layers{1}.initFcn?=?‘initwb‘;
net?=?init（net）;
net.trainParam.show?=?50;?
net.trainParam.lr?=?0.05;?%學習速率?
net.trainParam.mc?=?0.9;?%動量系數?
net.trainParam.epochs?=?5000;?
net.trainParam.goal?=?0.0001;?
[nettr]=train（netinputoutput）;?
end

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

?????文件??????44902??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\20130925gps.txt

?????文件??????92014??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\20130925imu.txt

?????文件????????751??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\bp.m

?????文件???????2037??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\bp1.m

?????文件??????23468??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\BPGPSP.txt

?????文件??????21517??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\BPGPSV.txt

?????文件????5083862??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\BPimu.txt

?????文件????????423??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\bpINS.m

?????文件?????914386??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\BPINSP.txt

?????文件????1127436??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\BPINSV.txt

?????文件????????212??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\contant.m

?????文件???????6911??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\EKF.m

?????文件????1506894??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\flight_data.mat

?????文件?????311202??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\GPS.txt

?????文件????1362173??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\IMU.txt

?????文件?????748187??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\K1.txt

?????文件???????5663??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\main.m

?????文件???????8027??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\quat.m

?????文件?????114424??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\state.txt

?????文件??????45610??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\state1.txt

?????文件??????47447??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\state2.txt

?????文件???????2751??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\Untitled.m

?????文件???????2807??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\Untitled2.m

?????文件???????1497??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgslla2xyz.m

?????文件???????1587??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgsxyz2enu.m

?????文件????????755??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgsxyz2enu2.m

?????文件???????2251??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgsxyz2lla.m

?????文件???????1412??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgsxyz2ned.m

?????文件????????793??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgsxyz2ned2.m

?????文件???????1150??2015-05-23?14:31??Neural?network?kalman?filter?for?integrated?navigation?system\wgs_84_parameters.m

............此處省略4個文件信息