solve_yy.m

GPS/GALILEO/BEIDOU兼容接收机自主完好性检测程序

function y=solve_yy(k,xs,ys,zs,xu,yu,zu,H,b,e,sysnum,sigma)

%*********************************
% ** 量测向量y
% ** sysnum 组合系统数目,exp:gps sysnum=1; gps/galileo sysnum = 2; gps/galileo/bd sysnum = 3 
% **********************************

dx=xs-xu*ones(k,1);
dy=ys-yu*ones(k,1);
dz=zs-zu*ones(k,1);
noise=normrnd(0,sigma,[k,1]);
rou=sqrt(dx.^2+dy.^2+dz.^2)+noise+b+e;
AuS=zeros(k,1);
for i=1:k
    AuS(i,1)=H(i,:)*[xs(i,1);ys(i,1);zs(i,1);zeros(sysnum,1)];          %用公式算出矩阵Au*S的值
end

y=AuS-rou;                                              %由公式算出y