epher.m

一个关于卫星导航方面的ekf滤波程序

 probe=[1763.471390    -5543.573195    -3060.978106      10.477046       3.054912       0.503383
        1889.013652    -5506.355451    -3054.627547      10.446300       3.147932       0.555023
        2014.174309    -5468.025567    -3047.658137      10.413463       3.240262       0.606520
        2138.928491    -5428.592223    -3040.071818      10.378564       3.331832       0.657834
        2263.251682    -5388.064954    -3031.871016      10.341637       3.422572       0.708927
        2387.119771    -5346.454123    -3023.058634      10.302719       3.512413       0.759757
        2510.509102    -5303.770900    -3013.638040      10.261850       3.601292       0.810288
        2633.396528    -5260.027231    -3003.613061      10.219074       3.689143       0.860482
        2755.759447    -5215.235810    -2992.987972      10.174439       3.775907       0.910301
        2877.575851    -5169.410044    -2981.767480      10.127996       3.861524       0.959710
        2998.824355    -5122.564022    -2969.956715      10.079799       3.945941       1.008674
        3119.484238    -5074.712476    -2957.561211      10.029903       4.029104       1.057161
        3239.535468    -5025.870747    -2944.586892       9.978367       4.110964       1.105138
        3358.958733    -4976.054747    -2931.040055       9.925253       4.191475       1.152576
        3477.735463    -4925.280916    -2916.927350       9.870622       4.270595       1.199445
        3595.847852    -4873.566190    -2902.255764       9.814540       4.348285       1.245718
        3713.278874    -4820.927951    -2887.032601       9.757072       4.424508       1.291370
        3830.012301    -4767.383994    -2871.265459       9.698285       4.499232       1.336377
        3946.032713    -4712.952482    -2854.962216       9.638247       4.572429       1.380717
        4061.325509    -4657.651905    -2838.131003       9.577027       4.644072       1.424369
        4175.876900    -4601.501050    -2820.780192       9.514693       4.714140       1.467314
        4289.673947    -4544.518930    -2802.918360       9.451314       4.782613       1.509536
        4402.704531    -4486.724773    -2784.554279       9.386960       4.849477       1.551020
        4514.957358    -4428.137977    -2765.696896       9.321699       4.914718       1.591751
        4626.421957    -4368.778066    -2746.355313       9.255600       4.978327       1.631718
        4737.088670    -4308.664672    -2726.538766       9.188729       5.040299       1.670911
        4846.948647    -4247.817463    -2706.256597       9.121155       5.100630       1.709320
        4955.993837    -4186.256135    -2685.518243       9.052942       5.159319       1.746940
        5064.216967    -4124.000374    -2664.333219       8.984156       5.216368       1.783764
        5171.611534    -4061.069829    -2642.711097       8.914859       5.271783       1.819789
        5278.171785    -3997.484078    -2620.661491       8.845113       5.325571       1.855011
        5383.892703    -3933.262606    -2598.194042       8.774980       5.377740       1.889430
        5488.769980    -3868.424749    -2575.318387       8.704516       5.428303       1.923045
        5592.800005    -3802.989706    -2552.044163       8.633781       5.477273       1.955858
        5695.979841    -3736.976497    -2528.380983       8.562827       5.524666       1.987872
        5798.307202    -3670.403949    -2504.338427       8.491710       5.570499       2.019088
        5899.780437    -3603.290678    -2479.926029       8.420481       5.614791       2.049513
        6000.398494    -3535.655058    -2455.153261       8.349188       5.657562       2.079152
        6100.160900    -3467.515205    -2430.029517       8.277880       5.698833       2.108010
        6199.067742    -3398.888973    -2404.564115       8.206602       5.738628       2.136096
        6297.119644    -3329.793936    -2378.766280       8.135398       5.776971       2.163417
        6394.317742    -3260.247374    -2352.645138       8.064309       5.813886       2.189981
        6490.663666    -3190.266268    -2326.209709       7.993374       5.849400       2.215800
        6586.159497    -3119.867278    -2299.468891       7.922632       5.883538       2.240881
        6680.807751    -3049.066745    -2272.431463       7.852117       5.916328       2.265237
        6774.611366    -2977.880681    -2245.106074       7.781865       5.947798       2.288877
        6867.573673    -2906.324763    -2217.501239       7.711905       5.977975       2.311813
        6959.698375    -2834.414331    -2189.625335       7.642269       6.006888       2.334057
        7050.989531    -2762.164381    -2161.486597       7.572984       6.034566       2.355620
        7141.451514    -2689.589565    -2133.093114       7.504077       6.061037       2.376516
        7231.089002    -2616.704190    -2104.452823       7.435573       6.086331       2.396757
    %--------------------------------------------------------------------------
        -95936.831229    333940.937087    184532.023680       0.807068       0.904029       0.153028
        -95927.153938    333951.833977    184533.869860       0.805800       0.912128       0.154670
        -95917.492350    333962.828357    184535.735809       0.804450       0.920277       0.156323
        -95907.847463    333973.920810    184537.621637       0.803017       0.928474       0.157984
        -95898.220296    333985.111913    184539.527454       0.801497       0.936718       0.159654
        -95888.611884    333996.402228    184541.453364       0.799890       0.945009       0.161333
        -95879.023281    334007.792308    184543.399471       0.798195       0.953345       0.163020
        -95869.455558    334019.282692    184545.365876       0.796410       0.961726       0.164715
        -95859.909807    334030.873905    184547.352674       0.794533       0.970150       0.166419
        -95850.387134    334042.566462    184549.359963       0.792563       0.978616       0.168130
        -95840.888667    334054.360862    184551.387832       0.790499       0.987124       0.169849
        -95831.415548    334066.257587    184553.436371       0.788338       0.995671       0.171575
        -95821.968940    334078.257107    184555.505664       0.786080       1.004256       0.173308
        -95812.550019    334090.359874    184557.595792       0.783723       1.012878       0.175048
        -95803.159982    334102.566321    184559.706834       0.781266       1.021536       0.176794
        -95793.800040    334114.876866    184561.838863       0.778707       1.030227       0.178546
        -95784.471422    334127.291907    184563.991949       0.776045       1.038951       0.180303
        -95775.175373    334139.811824    184566.166159       0.773279       1.047706       0.182066
        -95765.913153    334152.436977    184568.361553       0.770407       1.056491       0.183834
        -95756.686041    334165.167706    184570.578189       0.767428       1.065302       0.185606
        -95747.495326    334178.004329    184572.816121       0.764340       1.074139       0.187383
        -95738.342315    334190.947143    184575.075395       0.761143       1.083000       0.189163
        -95729.228329    334203.996422    184577.356057       0.757836       1.091883       0.190947
        -95720.154702    334217.152416    184579.658144       0.754417       1.100786       0.192734
        -95711.122781    334230.415352    184581.981690       0.750885       1.109706       0.194524
        -95702.133926    334243.785432    184584.326722       0.747239       1.118643       0.196315
        -95693.189508    334257.262833    184586.693265       0.743478       1.127593       0.198109
        -95684.290913    334270.847707    184589.081336       0.739602       1.136554       0.199903
        -95675.439536    334284.540178    184591.490947       0.735608       1.145525       0.201699
        -95666.636781    334298.340343    184593.922103       0.731498       1.154503       0.203494
        -95657.884063    334312.248271    184596.374806       0.727269       1.163486       0.205290
        -95649.182806    334326.264005    184598.849051       0.722921       1.172470       0.207084
        -95640.534440    334340.387557    184601.344825       0.718454       1.181455       0.208878
        -95631.940404    334354.618908    184603.862112       0.713866       1.190436       0.210670
        -95623.402142    334368.958012    184606.400888       0.709158       1.199413       0.212459
        -95614.921105    334383.404790    184608.961121       0.704328       1.208382       0.214246
        -95606.498749    334397.959134    184611.542777       0.699377       1.217340       0.216029
        -95598.136533    334412.620903    184614.145811       0.694305       1.226286       0.217809
        -95589.835920    334427.389924    184616.770175       0.689110       1.235215       0.219584
        -95581.598372    334442.265993    184619.415811       0.683794       1.244126       0.221354
        -95573.425355    334457.248872    184622.082657       0.678355       1.253016       0.223119
        -95565.318334    334472.338289    184624.770643       0.672795       1.261882       0.224878
        -95557.278770    334487.533943    184627.479692       0.667112       1.270722       0.226629
        -95549.308127    334502.835494    184630.209720       0.661308       1.279532       0.228374
        -95541.407862    334518.242571    184632.960638       0.655382       1.288309       0.230111
        -95533.579431    334533.754768    184635.732347       0.649336       1.297051       0.231839
        -95525.824281    334549.371645    184638.524742       0.643169       1.305755       0.233559
        -95518.143855    334565.092728    184641.337714       0.636882       1.314418       0.235268
        -95510.539587    334580.917507    184644.171142       0.630476       1.323038       0.236968
        -95503.012905    334596.845441    184647.024901       0.623951       1.331610       0.238657
        -95495.565223    334612.875951    184649.898860       0.617309       1.340133       0.240334];