%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
%??function?u_out=comp_imu_errors（u_inx_h）
%
%>?@brief?Function?that?compensats?for?the?artifacts?in?the?IMU??
%>?measurements?with?the?current?estimates?of?the?sensors?biases?and/or??
%>?scale?factor?errors.??
%>
%>?@details?Function?that?compensats?for?the?artifacts?in?the?IMU??
%>?measurements?with?the?current?estimates?of?the?sensors?biases?and/or??
%>?scale?factor?errors.?If?the?sensor?errors?are?not?included?in?the?state?
%>?space?model?used?in?the?Kalman?filter?no?correction/compensation?is?
%>?done.???
%>?????
%>?@param[out]???u_out?????Corrected/compensated?IMU?measurements.
%>?@param[in]????u_in??????Raw?IMU?measurements.
%>?@param[in]????x_h???????Navigation?state?vector?where?the?last?states?are?the?estimated?sensor?errors.?
%>
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?u_out=comp_imu_errors（u_inx_h）

global?simdata;

%?Check?which?errors?that?are?included?in?the?state?space?model

if?（strcmp（simdata.scalefactors‘on‘）?&&?strcmp（simdata.biases‘on‘））
????
????%?Both?scale?and?bias?errors?included
????temp=1./（ones（61）-x_h（16:end））;
????u_out=diag（temp）*u_in+x_h（10:15）;
????
????
elseif?strcmp（simdata.scalefactors‘on‘）?&&?strcmp（simdata.biases‘off‘）
????
????%?Scale?errors?included
????temp=1./（ones（61）-x_h（10:end））;
????u_out=diag（temp）*u_in;
????
elseif?strcmp（simdata.scalefactors‘off‘）?&&?strcmp（simdata.biases‘on‘）
????
????%?Bias?errors?included
????u_out=u_in+x_h（10:end）;
????
else
????
????%?Only?the?standard?errors?included
????u_out=u_in;
end

end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-10-25?23:46??OpenShoe修改版\
?????文件????????1674??2014-10-10?00:34??OpenShoe修改版\comp_imu_errors.m
?????文件????????1997??2014-10-25?23:13??OpenShoe修改版\comp_internal_states.m
?????目錄???????????0??2014-10-25?23:46??OpenShoe修改版\data\
?????文件?????1509098??2014-10-09?23:30??OpenShoe修改版\data\Extractedata.mat
?????文件?????2604912??2014-09-05?05:30??OpenShoe修改版\data\MT_03700107-000-000.xls
?????文件??????760545??2014-09-04?21:34??OpenShoe修改版\data\MT_03700107-000.mtb
?????文件????????1500??2014-10-09?23:29??OpenShoe修改版\data\TransfMti.m
?????文件?????2500715??2014-10-09?23:22??OpenShoe修改版\data\zerovelocityIMUdata.csv
?????文件??????????74??2014-10-09?22:49??OpenShoe修改版\data\數(shù)據(jù)轉(zhuǎn)換說(shuō)明.txt
?????文件????????1429??2014-10-10?00:16??OpenShoe修改版\dcm2q.m
?????文件?????1509098??2014-10-09?23:29??OpenShoe修改版\Extractedata.mat
?????文件?????????756??2014-10-10?00:05??OpenShoe修改版\gravity.m
?????文件????????3304??2014-10-10?00:32??OpenShoe修改版\init_filter.m
?????文件?????????880??2014-10-25?22:59??OpenShoe修改版\init_Nav_eq.m
?????文件????????1560??2014-10-10?00:40??OpenShoe修改版\init_vec.m
?????文件????????1072??2014-10-11?01:57??OpenShoe修改版\MainZUPT.m
?????文件????????3148??2014-10-10?00:32??OpenShoe修改版\Navigation_equations.m
?????文件?????????898??2014-10-10?00:17??OpenShoe修改版\q2dcm.m
?????文件?????????714??2014-10-11?21:31??OpenShoe修改版\Rt2b.m
?????文件????????4660??2014-10-11?02:12??OpenShoe修改版\settings.m
?????文件????????2989??2014-10-10?00:33??OpenShoe修改版\state_matrix.m
?????文件????????4335??2014-03-08?01:15??OpenShoe修改版\stp_num_detection.m
?????文件????????4645??2014-10-10?00:44??OpenShoe修改版\view_data.m
?????文件?????1196298??2014-10-25?23:42??OpenShoe修改版\x_h.mat
?????文件????????5210??2014-10-09?23:34??OpenShoe修改版\zero_velocity_detector.m
?????文件?????????610??2014-10-25?23:42??OpenShoe修改版\zupt.mat
?????文件????????4771??2014-10-11?01:01??OpenShoe修改版\ZUPTaidedINS.m