epher.m

一个关于卫星导航方面的ekf滤波程序

% EKF-Observation data generate

moon=[330801.647435    133172.230075    70362.714577
      330796.742840    133182.778865    70368.531773
      330791.837865    133193.327458    70374.348865
      330786.932477    133203.875925    70380.165891
      330782.026710    133214.424196    70385.982812
      330777.120530    133224.972342    70391.799667
      330772.213953    133235.520326    70397.616438
      330767.306997    133246.068114    70403.433103
      330762.399629    133256.615776    70409.249703
      330757.491864    133267.163277    70415.066218
      330752.583720    133277.710582    70420.882628
      330747.675163    133288.257761    70426.698973
      330742.766227    133298.804743    70432.515212
      330737.856878    133309.351600    70438.331386
      330732.947133    133319.898296    70444.147475
      330728.037008    133330.444795    70449.963459
      330723.126471    133340.991168    70455.779377
      330718.215554    133351.537345    70461.595191
      330713.304224    133362.083396    70467.410938
      330708.392499    133372.629285    70473.226601
      330703.480394    133383.174978    70479.042158
      330698.567876    133393.720546    70484.857650
      330693.654962    133404.265952    70490.673057
      330688.741669    133414.811161    70496.488359
      330683.827964    133425.356245    70502.303595
      330678.913878    133435.901132    70508.118726
      330673.999381    133446.445893    70513.933791
      330669.084487    133456.990492    70519.748772
      330664.169214    133467.534895    70525.563647
      330659.253528    133478.079172    70531.378456
      330654.337447    133488.623288    70537.193180
      330649.420985    133499.167207    70543.007800 
      330644.504112    133509.711000    70548.822353
      330639.586859    133520.254596    70554.636802
      330634.669194    133530.798067    70560.451184
      330629.751132    133541.341376    70566.265482
      330624.832691    133551.884488    70572.079674
      330619.913838    133562.427474    70577.893801
      330614.994605    133572.970263    70583.707822
      330610.074961    133583.512926    70589.521778
      330605.154920    133594.055428    70595.335648
      330600.234499    133604.597733    70601.149414
      330595.313667    133615.139912    70606.963113
      330590.392438    133625.681929    70612.776728
      330585.470830    133636.223749    70618.590237
      330580.548810    133646.765444    70624.403680
      330575.626410    133657.306941    70630.217018
      330570.703598    133667.848312    70636.030291
      330565.780391    133678.389522    70641.843478
      330560.856803    133688.930535    70647.656560
      330555.932804    133699.471421    70653.469575
      %-----------------------------------------------------
        -96328.536975    336511.770132    185056.519191
        -96340.174392    336509.753274    185055.504116      
        -96351.811679    336507.736105    185054.488869      
        -96363.448914    336505.718612    185053.473445     
        -96375.086058    336503.700802    185052.457846      
        -96386.723073    336501.682683    185051.442077      
        -96398.360035    336499.664239    185050.426130      
        -96409.996907    336497.645479    185049.410008      
        -96421.633648    336495.626409    185048.393716      
        -96433.270338    336493.607015    185047.377246      
        -96444.906898    336491.587311    185046.360606      
        -96456.543405    336489.567283    185045.343787      
        -96468.179822    336487.546938    185044.326795      
        -96479.816109    336485.526284    185043.309631    
        -96491.452344    336483.505305    185042.292290     
        -96503.088449    336481.484017    185041.274778      
        -96514.724501    336479.462405    185040.257088      
        -96526.360463    336477.440476    185039.239224      
        -96537.996295    336475.418237    185038.221190      
        -96549.632075    336473.395674    185037.202977      
        -96561.267763    336471.372795    185036.184590      
        -96572.903322    336469.349606    185035.166033      
        -96584.538828    336467.326093    185034.147298     
        -96596.174205    336465.302269    185033.128392     
        -96607.809529    336463.278123    185032.109308      
        -96619.444762    336461.253659    185031.090050      
        -96631.079865    336459.228886    185030.070622     
        -96642.714916    336457.203788    185029.051015      
        -96654.349837    336455.178381    185028.031238      
        -96665.984706    336453.152650    185027.011284      
        -96677.619483    336451.126603    185025.991155      
        -96689.254131    336449.100245    185024.970855      
        -96700.888726    336447.073564    185023.950377     
        -96712.523230    336445.046566    185022.929726      
        -96724.157604    336443.019258    185021.908903     
        -96735.791925    336440.991626    185020.887903      
        -96747.426117    336438.963685    185019.866732      
        -96759.060256    336436.935420    185018.845384      
        -96770.694304    336434.906838    185017.823861     
        -96782.328222    336432.877946    185016.802167      
        -96793.962087    336430.848730    185015.780296      
        -96805.595861    336428.819198    185014.758251      
        -96817.229505    336426.789356    185013.736035      
        -96828.863096    336424.759190    185012.713641      
        -96840.496558    336422.728714    185011.691076      
        -96852.129967    336420.697915    185010.668334      
        -96863.763284    336418.666799    185009.645418      
        -96875.396472    336416.635373    185008.622331      
        -96887.029607    336414.603624    185007.599066      
        -96898.662611    336412.571564    185006.575631      
        -96910.295563    336410.539181    185005.552017];