gendverr.m

惯性导航系统传递对准系统模型程序

function dverr = gendverr(deltav,time,errparam,dvseed)


if nargin<4,randn('seed',sum(100*clock)),else,randn('seed',dvseed);end
if nargin<3,error('insufficient number of input arguments'),end

tdint_prof = diff(time);

[m,n] = size(tdint_prof); 
if m<n, 
   tdvec=tdint_prof'; 
   K = n;
else, 
   tdvec=tdint_prof; 
   K = m;
end

xbias = tdvec*errparam(1,1);
ybias = tdvec*errparam(1,2);
zbias = tdvec*errparam(1,3);
xsferr = deltav(:,1)*errparam(2,1)*0.01;
ysferr = deltav(:,2)*errparam(2,2)*0.01;
zsferr = deltav(:,3)*errparam(2,3)*0.01;
xnoise = ( tdvec.*randn(K,1) )*errparam(3,1);
ynoise = ( tdvec.*randn(K,1) )*errparam(3,2);
znoise = ( tdvec.*randn(K,1) )*errparam(3,3);

dverr = [xbias+xsferr+xnoise ybias+ysferr+ynoise zbias+zsferr+znoise];