The laser gyro strapdown inertial navigation system and GNSS receiver are fixed in the experimental compartment of the experimental vehicle. The antenna of the receiver is fixed above the experimental compartment of the experimental vehicle. The on-board computer receives and collects the original data of the inertial navigation system and satellite navigation receiver in real time, and carries out on-board experiments on the suburban open highway.

Filename	Size	Update
exp4	0	2018-07-28
exp4\九状态卡尔曼滤波	0	2018-07-28
exp4\九状态卡尔曼滤波\check_t.m	292	2018-06-20
exp4\九状态卡尔曼滤波\coarse_align.m	751	2018-06-09
exp4\九状态卡尔曼滤波\data_gps.mat	33964	2018-06-27
exp4\九状态卡尔曼滤波\dcm2eul.m	274	2018-06-09
exp4\九状态卡尔曼滤波\dcm2qua.m	241	2018-06-09
exp4\九状态卡尔曼滤波\eph_temp.dat	4826	2018-07-28
exp4\九状态卡尔曼滤波\eul2dcm.m	489	2018-06-09
exp4\九状态卡尔曼滤波\eul2qua.m	439	2018-06-09
exp4\九状态卡尔曼滤波\eulr2qua.M	1475	2006-05-25
exp4\九状态卡尔曼滤波\e_r_corr.m	469	1996-11-26
exp4\九状态卡尔曼滤波\gnss.m	2820	2018-07-09
exp4\九状态卡尔曼滤波\initpara.m	766	2018-07-03
exp4\九状态卡尔曼滤波\ins_navi.m	1367	2018-06-12
exp4\九状态卡尔曼滤波\KF_correct.m	1533	2018-06-27
exp4\九状态卡尔曼滤波\KF_correct_gps.m	1557	2018-07-03
exp4\九状态卡尔曼滤波\KF_correct_gps_9.m	2669	2018-07-03
exp4\九状态卡尔曼滤波\main_ins_gps.m	2545	2018-07-28
exp4\九状态卡尔曼滤波\pre_data.m	528	2018-06-27
exp4\九状态卡尔曼滤波\qua2dcm.m	310	2018-06-09
exp4\九状态卡尔曼滤波\qua_multiply.m	225	2018-06-09
exp4\九状态卡尔曼滤波\readme.txt	1532	2018-06-21
exp4\九状态卡尔曼滤波\rover3.dat	320490	2008-12-03
exp4\九状态卡尔曼滤波\rover_eph3.dat	5052	2006-06-10
exp4\九状态卡尔曼滤波\rover_ref.txt	221938	2008-12-03
exp4\九状态卡尔曼滤波\samp_eph.m	2974	2018-06-29
exp4\九状态卡尔曼滤波\SatPosVelCalculation.m	4366	2018-06-29
exp4\九状态卡尔曼滤波\togeod.m	2217	2005-03-23
exp4\九状态卡尔曼滤波\topocent.m	1048	2005-03-23
exp4\九状态卡尔曼滤波\tropo.m	2345	1997-09-26
exp4\九状态卡尔曼滤波\同步时刻.txt	35	2006-04-08
exp4\五状态卡尔曼滤波	0	2018-07-28
exp4\五状态卡尔曼滤波\calGPS.m	3248	2018-06-29
exp4\五状态卡尔曼滤波\check_t.m	292	2018-06-20
exp4\五状态卡尔曼滤波\coarse_align.m	751	2018-06-09
exp4\五状态卡尔曼滤波\data_gps.mat	33964	2018-06-27
exp4\五状态卡尔曼滤波\dcm2eul.m	274	2018-06-09
exp4\五状态卡尔曼滤波\dcm2qua.m	241	2018-06-09
exp4\五状态卡尔曼滤波\eph_temp.dat	4826	2018-07-28
exp4\五状态卡尔曼滤波\eul2dcm.m	489	2018-06-09
exp4\五状态卡尔曼滤波\eul2qua.m	439	2018-06-09
exp4\五状态卡尔曼滤波\eulr2qua.M	1475	2006-05-25
exp4\五状态卡尔曼滤波\e_r_corr.m	469	1996-11-26
exp4\五状态卡尔曼滤波\gnss.m	2820	2018-07-09
exp4\五状态卡尔曼滤波\initpara.m	901	2018-06-19
exp4\五状态卡尔曼滤波\ins_navi.m	1367	2018-06-12
exp4\五状态卡尔曼滤波\KF_correct.m	1533	2018-06-27
exp4\五状态卡尔曼滤波\KF_correct_gps.m	1553	2018-06-29
exp4\五状态卡尔曼滤波\main_ins_gps.m	3986	2018-07-28
exp4\五状态卡尔曼滤波\pre_data.m	528	2018-06-27
exp4\五状态卡尔曼滤波\qua2dcm.m	310	2018-06-09
exp4\五状态卡尔曼滤波\qua_multiply.m	225	2018-06-09
exp4\五状态卡尔曼滤波\readme.txt	1532	2018-06-21
exp4\五状态卡尔曼滤波\rover3.dat	320490	2008-12-03
exp4\五状态卡尔曼滤波\rover_eph3.dat	5052	2006-06-10
exp4\五状态卡尔曼滤波\rover_ref.txt	221938	2008-12-03
exp4\五状态卡尔曼滤波\samp_eph.m	2974	2018-06-29
exp4\五状态卡尔曼滤波\SatPosVelCalculation.m	4366	2018-06-29
exp4\五状态卡尔曼滤波\togeod.m	2217	2005-03-23
exp4\五状态卡尔曼滤波\topocent.m	1048	2005-03-23
exp4\五状态卡尔曼滤波\tropo.m	2345	1997-09-26
exp4\五状态卡尔曼滤波\同步时刻.txt	35	2006-04-08

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