Dr. Yan Gongmin's transfer alignment simulation program, it is worth a look, recommend beginners to learn

naviga120203\naviga120203
naviga120203\naviga120203\basefun
naviga120203\naviga120203\basefun\a2caw.m
naviga120203\naviga120203\basefun\a2cnb.m
naviga120203\naviga120203\basefun\a2cwa.m
naviga120203\naviga120203\basefun\a2qnb.m
naviga120203\naviga120203\basefun\align_i0.m
naviga120203\naviga120203\basefun\align_i0_1.m
naviga120203\naviga120203\basefun\AlignCorse.m
naviga120203\naviga120203\basefun\AlignCorse1.m
naviga120203\naviga120203\basefun\askew.m
naviga120203\naviga120203\basefun\cnscl.m
naviga120203\naviga120203\basefun\compassCmd.m
naviga120203\naviga120203\basefun\compasskxyz.m
naviga120203\naviga120203\basefun\DR.m
naviga120203\naviga120203\basefun\drift_bias.m
naviga120203\naviga120203\basefun\dv2atti.m
naviga120203\naviga120203\basefun\earth.m
naviga120203\naviga120203\basefun\ekf.m
naviga120203\naviga120203\basefun\etm.m
naviga120203\naviga120203\basefun\getf.m
naviga120203\naviga120203\basefun\getf_DR.m
naviga120203\naviga120203\basefun\glvs.m
naviga120203\naviga120203\basefun\ImuAddErr.m
naviga120203\naviga120203\basefun\ImuStatic.m
naviga120203\naviga120203\basefun\kalman.m
naviga120203\naviga120203\basefun\kfdis.m
naviga120203\naviga120203\basefun\large_phi_model.m
naviga120203\naviga120203\basefun\m2att.m
naviga120203\naviga120203\basefun\m2qnb.m
naviga120203\naviga120203\basefun\make_dll.m
naviga120203\naviga120203\basefun\markov.m
naviga120203\naviga120203\basefun\nav_err.m
naviga120203\naviga120203\basefun\nav_init.m
naviga120203\naviga120203\basefun\p2cne.m
naviga120203\naviga120203\basefun\prls.m
naviga120203\naviga120203\basefun\q2att.m
naviga120203\naviga120203\basefun\q2cnb.m
naviga120203\naviga120203\basefun\q2rv.m
naviga120203\naviga120203\basefun\qaddafa.m
naviga120203\naviga120203\basefun\qaddphi.m
naviga120203\naviga120203\basefun\qconj.m
naviga120203\naviga120203\basefun\qdelafa.m
naviga120203\naviga120203\basefun\qdelphi.m
naviga120203\naviga120203\basefun\qmul.m
naviga120203\naviga120203\basefun\qmulv.m
naviga120203\naviga120203\basefun\qq2afa.m
naviga120203\naviga120203\basefun\qq2phi.m
naviga120203\naviga120203\basefun\rfu.m
naviga120203\naviga120203\basefun\RLS.m
naviga120203\naviga120203\basefun\rv2q.m
naviga120203\naviga120203\basefun\sins.m
naviga120203\naviga120203\basefun\sv2atti.m
naviga120203\naviga120203\basefun\timedisp.m
naviga120203\naviga120203\basefun\trj.m
naviga120203\naviga120203\basefun\ukf.m
naviga120203\naviga120203\data
naviga120203\naviga120203\data\imu.dat
naviga120203\naviga120203\data\imu_transfer.mat
naviga120203\naviga120203\data\lgimu.dat
naviga120203\naviga120203\data\trj100ms.mat
naviga120203\naviga120203\readme.txt
naviga120203\naviga120203\test_align_compass_lgimu.m
naviga120203\naviga120203\test_align_compass_moving.m
naviga120203\naviga120203\test_align_compass_reverse.m
naviga120203\naviga120203\test_align_compass_static.m
naviga120203\naviga120203\test_align_ekf_10.m
naviga120203\naviga120203\test_align_ekf_5.m
naviga120203\naviga120203\test_align_kalman_fn.m
naviga120203\naviga120203\test_align_kalman_vn_lgimu.m
naviga120203\naviga120203\test_align_para_reco_lgimu.m
naviga120203\naviga120203\test_align_ukf.m
naviga120203\naviga120203\test_cone_error.m
naviga120203\naviga120203\test_DR.m
naviga120203\naviga120203\test_drift_random_walk.m
naviga120203\naviga120203\test_scull_error.m
naviga120203\naviga120203\test_sins.m
naviga120203\naviga120203\test_sins_ccd.m
naviga120203\naviga120203\test_SINS_DR.m
naviga120203\naviga120203\test_SINS_err_verify.m
naviga120203\naviga120203\test_SINS_GPS.m
naviga120203\naviga120203\test_SINS_GPS_static.m
naviga120203\naviga120203\test_sins_static.m
naviga120203\naviga120203\test_sins_static_err.m
naviga120203\naviga120203\test_sins_static_long_time.m
naviga120203\naviga120203\test_transfer_align.m
naviga120203\naviga120203\test_transfer_imu_sim.m
naviga120203\naviga120203\test_transfer_trj.m
naviga120203\naviga120203\test_trj.m
naviga120203\naviga120203\test_trj_swagging.m
naviga120203\naviga120203\tools
naviga120203\naviga120203\tools\avar.m
naviga120203\naviga120203\tools\d2r.m
naviga120203\naviga120203\tools\dm2r.m
naviga120203\naviga120203\tools\dms2r.m
naviga120203\naviga120203\tools\foie.m
naviga120203\naviga120203\tools\gpx.m
naviga120203\naviga120203\tools\incre.m
naviga120203\naviga120203\tools\incre_save.m
naviga120203\naviga120203\tools\meann.m

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