/*****************************************************************************/
/**************用于實際系統的組合導航gps量測數據直接從OEM讀數****************/
/*****************************************************************************/
#include?“math.h“
#include?“stdio.h“
#include?“stdlib.h“
#include?“conio.h“
#define?R_e?6.318137e6
#define?F?1.0/298.257
#define?w_ie?7.292115e-5
#define?T?1.0
#define?G?9.878049
#define?GPSON?1
//#define?dd?4
double?g[15][6]q[6][6]r[6][6]cbp[3][3];
double?R_mR_n;
int?comflag;
int???dd;
//double?fuyangpianhang;

void?init（double?x[15]double?dx[15]double?p[15][15]double?h[6][15]）;
void?readstrap（double?x[15]double?a[22]）;
void?measure（double?x[15]double?z[6]double?noise[6]double?a[22]）;
void?transferandp_k（double?x[15]double?fi[15][15]double?p[15][15]double?p_k[15][15]）;
void?squareer_p_k（double?p[15][15]double?p_k[15][15]double?transition1[15][15]double?f[15][15]double?fi[15][15]double?fi_t[15][15]）;
void?squareer_p（double?p[15][15]double?p_k[15][15]double?modulus[15][6]double?h[6][15]）;
void?gainmodulus（double?x[15]double?p_k[15][15]double?modulus[15][6]double?h[6][15]）;
void?estate（double?dx[15]double?z[6]double?fi[15][15]double?modulus[15][6]double?h[6][15]）;
void?kalman（double?x[15]double?dx[15]double?z[6]double?noise[6]double?p[15][15]double?h[6][15]double?a[22]）;
void?tranfs（double?f[][15]）;
int??randm（float?cfloat?dfloat?tfloat?efloat?*rn1float?*snfloat?*sn1）;
void?athwart（double?aa[][6]int?n）;
void?matrixmultiply（double?*p1double?*p2double?*p3int?iiint?kkint?jj）;
void?readbf（double?a[22]）;
//void?output（double?dx[15]）;
FILE?*in;

void?main（void）
{
int?ij;
float?rn[6]sn[6]ssn[6];
double?dx[15]x[15]z[6]noise[6];
double?h[6][15]p[15][15]a[22];
double?outout[15];
FILE?*out;


if（（out=fopen（“result1.dat““w“））==NULL）
	{	puts（“CAN‘T?OPEN?result.dat?to?save?result?data.“）;
		puts（“PROGRAM?IS?TERMINATED?!“）;
		exit（1）;
	}
if（（in=fopen（“rk.dat““r“））==NULL）
	{	puts（“CAN‘T?OPEN?out.dat?to?save?result?data.“）;
		puts（“PROGRAM?IS?TERMINATED?!“）;
		exit（1）;
	}
	
init（xdxph）;?

for（i=0;i<6;i++）?z[i]=0.0;
	rn[0]=2.0*（pow（2.014.0）-2.0）+1.0;
	rn[1]=2.0*（pow（2.014.0）-2.0）+2.0;
	rn[2]=2.0*（pow（2.014.0）-2.0）+3.0;
	rn[3]=2.0*（pow（2.014.0）-2.0）+7.0;
	rn[4]=2.0*（pow（2.014.0）-2.0）+5.0;
	rn[5]=2.0*（pow（2.014.0）-2.0）+5.0;

for（i=0;i<400;i++）
{?????	randm（10.00.03.00.0&rn[0]&sn[0]&ssn[0]）;?noise[0]=sn[0];
	randm（10.00.03.00.0&rn[1]&sn[1]&ssn[1]）;?noise[1]=sn[1];
	randm（10.00.03.00.0&rn[2]&sn[2]&ssn[2]）;?noise[2]=sn[2];
	randm（0.10.03.00.0&rn[3]&sn[3]&ssn[3]）;?noise[3]=sn[3];
	randm（0.10.03.00.0&rn[4]&sn[4]&ssn[4]）;?noise[4]=sn[4];
	randm（0.10.03.00.0&rn[5]&sn[5]&ssn[5]）;?noise[5]=sn[5];
	
	readbf（a）;?
	readstrap（xa）;
??????kalman（xdxznoisepha）;

??????fprintf（out“%4d?“i）;
	??for（j=0;j<15;j++）
	??{?	outout[j]=dx[j];
	??	outout[0]=outout[0];
	??	outout[1]=outou

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

?????文件??????60606??2005-07-23?11:06??初始對準\c\WHNOISE.C

?????文件??????64298??2005-07-23?11:06??初始對準\c\RKs.C

?????文件??????62768??2005-07-23?11:06??初始對準\c\RK2.C

?????文件??????61264??2005-07-23?11:06??初始對準\c\RK10.C

?????文件??????60552??2005-07-23?11:06??初始對準\c\PINGFEI.C

?????文件??????73630??2005-07-23?11:06??初始對準\c\jingjizhuo.c

?????文件??????60115??2005-07-23?11:06??初始對準\c\Kalman.c

?????文件??????63488??2005-07-23?11:06??初始對準\c\JIELIAN.C

?????文件??????72628??2005-07-23?11:06??初始對準\c\HANGJI1.C

?????文件??????60198??2005-07-23?11:06??初始對準\c\COMPARE.C

?????文件??????74645??2005-07-23?11:06??初始對準\c\Comnav36.c

?????文件??????63684??2005-07-23?11:06??初始對準\c\10.C

?????文件??????65536??2005-07-23?11:06??初始對準\c\1010.C

?????文件??????65536??2005-07-23?11:06??初始對準\c\HANGJI.C

?????文件??????65536??2005-07-23?11:06??初始對準\c\RK1.C

?????目錄??????????0??2005-08-16?10:04??初始對準\c

?????文件??????61370??2005-07-23?11:05??初始對準\matlab\single.m

?????文件??????60066??2005-07-23?11:05??初始對準\matlab\scatter.m

?????文件??????61578??2005-07-23?11:05??初始對準\matlab\pwcsstraight3.m

?????文件??????61380??2005-07-23?11:05??初始對準\matlab\pwcsstraight2.m

?????文件??????62621??2005-07-23?11:05??初始對準\matlab\pwcsstraidegree.m

?????文件??????60870??2005-07-23?11:05??初始對準\matlab\pwcspose3.m

?????文件??????60295??2005-07-23?11:05??初始對準\matlab\pwcspose2.m

?????文件??????65224??2005-07-23?11:05??初始對準\matlab\sinsMBNA1.m

?????文件??????60480??2005-07-23?11:05??初始對準\matlab\posematrix1.m

?????文件??????60060??2005-07-23?11:05??初始對準\matlab\posematrix.m

?????文件??????61006??2005-07-23?11:05??初始對準\matlab\makeA12.m

?????文件??????60858??2005-07-23?11:05??初始對準\matlab\makeA101.m

?????文件??????60840??2005-07-23?11:05??初始對準\matlab\llll.fig

?????文件??????60536??2005-07-23?11:05??初始對準\matlab\kalmf3.m

............此處省略17個文件信息