%===========================================================%
%???????????????gnss_ins_filter_config.m????????????????????%
%???????????????????????????????????????????????????????????%
%???This?m-file?contains?all?the?conifiguraiton?switches????%
%???for?the?GNSS/INS?filter.????????????????????????????????%
%???????????????????????????????????????????????????????????%
%???Programmer:?????Demoz?Gebre-Egziabher???????????????????%
%???Created:????????March?26?2009??????????????????????????%
%???Last?Modified:??March?26?2009??????????????????????????%
%???????????????????????????????????????????????????????????%
%???Copywrite?2009?Demoz?Gebre-Egziabher????????????????????%
%???License:?BSD?see?bsd.txt?for?details???????????????????%
%===========================================================%

%???Define?start?and?stop?time?in?MINUTES?for?playback.??The
%???data?provided?is?from?a?flighttest?of?14?minutes?duration.
%???The?variables?t_start?and?t_end?must?define?a?time?interval?
%???between?0?and?14?minutes.??

t_start?=?7;
t_end?=?13.5;

%???Configure?the?Extended?Kalman?Filter?（EKF）

CLOSED_LOOP?=?1;????????%???If?set?to?1?a?GNSS-aided?
????????????????????????%???inertial?navigator?is?simulated.
????????????????????????%???If?set?to?0?the?simulation?will
????????????????????????%???be?that?of?an?unaided?INS.??
????????????????????????
NO_CORIOLIS?=?1;????????%???If?set?to?1?coriolis?acceleraitons
????????????????????????%???are?ignored?in?the?time?upadate?
????????????????????????%???equations.?Should?be?set?to?0?when
????????????????????????%???using?high?grade?inertial?sensors?and
????????????????????????%???GNSS?updates?come?at?a?slow?rate.
????????????????????????
SMALL_PROP_TIME?=?1;????%???If?set?to?1?it?means?that?the?time
????????????????????????%???between?GNSS?updates?is?small?and
????????????????????????%???thus?Schuler?dynamics?can?be
????????????????????????%???ignored?without?much?consequence.
????????????????????????%???That?is?the?approximation?given?by
????????????????????????%???Equation?（6.17）?is?used?for?the?
????????????????????????%???velocity?propagation?instead?of?
????????????????????????%???Equation?（6.13）

????????????????????????????????
gnss_update_rate?=?1;???%??GNSS?measurement?update?rate?in?Hz.

%???GPS?measurement?noise?standard?deviation

gps_pos_sigma?=?3;??????????????%???m?（North?East?Down）
gps_vel_sigma?=?0.2;????????????%???m/s?（North?East?Donw）

%???IMU?output?error?covariance?（Table?1?Chapter?6）

sigma_g_d?=?0.3*d2r;????????????????%?Standard?deviation?of?correlated?gyro?bias?
tau_g?=?300;????????????????????????%?Correlation?time?or?time?constant?of?b_{gd}
sigma_g_w?=?0.95*d2r;???????????????%?Standard?deviation?of?gyro?output?noise

sigma_a_d?=?（0.5e-3）*g;?????????????%?Standard?deviation?of?Accelerometer?Markov?Bias
tau_a?=?300;????????????????????????%?Correlation?time?or?time?constant?of?b_{ad}
sigma_a_w?=?0.12*g;???????????

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_1\
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\
?????文件????????1446??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\bsd.txt
?????文件?????1506894??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\flight_data.mat
?????文件????????3075??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_config.m
?????文件????????1263??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_constants.m
?????文件????????2101??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_data_loader.m
?????文件???????17188??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\gnss_ins_EKF_loose_integration.m
?????文件????????4212??2014-08-19?08:48??GNSS_INS\Case_Study_1\MATLAB\plot_EKF_output.m
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\
?????文件????????1446??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\bsd.txt
?????文件?????1506894??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\flight_data.mat
?????文件????????3075??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_config.m
?????文件????????1263??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_constants.m
?????文件????????2262??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_data_loader.m
?????文件???????17038??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\gnss_ins_EKF_loose_integration.m
?????文件????????4212??2014-08-19?08:48??GNSS_INS\Case_Study_1\Octave\plot_EKF_output.m
?????文件???????12401??2014-08-19?08:48??GNSS_INS\Case_Study_1\readme_case_1.pdf
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_2\
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\
?????目錄???????????0??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\New_Data\
?????文件??????223080??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_A.mat
?????文件???????74636??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_A_FILTER_ARCHITECTURE_P.mat
?????文件??????285562??2014-08-21?17:47??GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_B.mat
?????文件???????76434??2014-08-21?17:47??GNSS_INS\Case_Study_2\MATLAB\New_Data\TRAJECTORY_B_FILTER_ARCHITECTURE_P.mat
?????文件????????1446??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\bsd.txt
?????文件????????3114??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\case_study_2_wrapper.m
?????文件???????13522??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\gen_traj_sensor_data.m
?????文件???????11803??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\gnss_ins_EKF_2D.m
?????文件????????5257??2014-08-19?08:48??GNSS_INS\Case_Study_2\MATLAB\plot_EKF_results.m
............此處省略35個(gè)文件信息