速度误差δvx.txt

基于VC环境下的组合导航卡尔曼滤波仿真器设计

-1.35036,-2.63745,-3.79917,-4.78059,-5.53662,-6.03402,-6.25286,-6.18734,-5.84576,-5.24993,-4.43384,-3.44172,-2.3257,-1.14305,0.0467826,1.18518,2.21726,3.09451,3.77711,4.2357,4.45264,4.42261,4.15259,3.66125,2.97774,2.14002,1.19274,0.184891,-0.832711,-1.81001,-2.70016,-3.46177,-4.06082,-4.47218,-4.68062,-4.68135,-4.47997,-4.09191,-3.54144,-2.86017,-2.08529,-1.25754,-0.419055,0.388797,1.12746,1.76306,2.26794,2.62185,2.81272,2.83697,2.69942,2.41273,1.99646,1.47586,0.880401,0.242092,-0.406186,-1.03239,-1.60688,-2.10383,-2.50239,-2.78749,-2.95041,-2.98892,-2.90713,-2.71497,-2.42742,-2.06346,-1.64496,-1.19532,-0.738205,-0.296286,0.109898,0.462901,0.749106,0.959213,1.08846,1.13657,1.10747,1.00879,0.851162,0.647419,0.411722,0.158655,-0.0976323,-0.3442,-0.569968,-0.766203,-0.926831,-1.04856,-1.13081,-1.17547,-1.18652,-1.16951,-1.13099,-1.0779,-1.01696,-0.954107,-0.8941,-0.840146,-0.793745,-0.754669,-0.721092,-0.689868,-0.656923,-0.617738,-0.567868,-0.503481,-0.421848,-0.321769,-0.203877,-0.0708165,0.0727378,0.220226,0.363506,0.493298,0.599758,0.673136,0.70448,0.686351,0.613484,0.483362,0.296654,0.057474,-0.226559,-0.544481,-0.882372,-1.22395,-1.55134,-1.84606,-2.08997,-2.26644,-2.36132,-2.36396,-2.26801,-2.072,-1.7798,-1.40059,-0.948756,-0.443322,0.092812,0.633911,1.15264,1.62145,2.01405,2.30683,2.48029,2.52022,2.4187,2.17482,1.795,1.29299,0.689423,0.0110278,-0.710552,-1.44023,-2.14117,-2.77669,-3.31215,-3.71685,-3.96576,-4.041,-3.933,-3.64123,-3.17454,-2.55098,-1.7971,-0.946887,-0.0402061,0.879056,1.76512,2.57262,3.25887,3.78618,4.12389,4.2501,4.15305,3.83199,3.29748,2.57118,1.68498,0.679653,-0.397002,-1.49247,-2.55208,-3.52173,-4.35071,-4.99428,-5.41616,-5.59049,-5.50336,-5.15378,-4.55394,-3.72884,-2.71532,-1.56037,-0.318978,0.948518,2.17933,3.31137,4.28636,5.05283,5.56885,5.80433,5.74268,5.38198,4.73527,3.83018,2.70778,1.42072,0.0308011,-1.39405,-2.7831,-4.06632,-5.17797,-6.05997,-6.6649,-6.95858,-6.92197,-6.5523,-5.86341,-4.88533,-3.66291,-2.25381,-0.725762,0.846704,2.38588,3.81473,5.06076,6.05967,6.75873,7.1195,7.11998,6.7559,6.04116,5.00737,3.70244,2.1884,0.538425,-1.16669,-2.84254,-4.40529,-5.7759,-6.88414,-7.6722,-8.0977,-8.13595,-7.78137,-7.04792,-5.96856,-4.5938,-2.98932,-1.23282,0.58976,2.38841,4.07353,5.56041,6.77347,7.6501,8.14393,8.22727,7.89265,7.15336,6.04298,4.61385,2.93461,1.08691,-0.838626,-2.74681,-4.54265,-6.13613,-7.44668,-8.40733,-8.9681,-9.09862,-8.78973,-8.05412,-6.92574,-5.45831,-3.72271,-1.80355,0.204931,2.20354,4.093,5.77892,7.17649,8.21477,8.8403,9.01985,8.74221,8.01883,6.88342,5.39032,3.61194,1.63523,-0.442625,-2.51896,-4.49076,-6.2598,-7.73753,-8.84958,-9.53945,-9.77143,-9.53245,-8.83278,-7.70563,-6.20551,-4.40567,-2.39444,-0.270929,1.85987,3.89229,5.72525,7.26726,8.44104,9.18737,9.46808,9.26806,8.596,7.48407,5.98636,4.17621,2.14266,-0.0140079,-2.1872,-4.26933,-6.15716,-7.75693,-8.98904,-9.79207,-10.1258,-9.97315,-9.34134,-8.26124,-6.78603,-4.98851,-2.95754,-0.793645,1.39603,3.50297,5.42273,7.06008,8.33379,9.18064,9.55856,9.44875,8.85658,7.81137,6.36486,4.5887,2.57085,0.411204,-1.78338,-3.90436,-5.84695,-7.51527,-8.82712,-9.71805,-10.1445,-10.0861,-9.54632,-8.55267,-7.15503,-5.42326,-3.44364,-1.31465,0.858029,2.96673,4.90716,6.58358,7.91353,8.8319,9.29414,9.27839,8.78655,7.84407,6.49866,4.81785,2.88556,0.797939,-1.34148,-3.42692,-5.3556,-7.03283,-8.37666,-9.32192,-9.82337,-9.85791,-9.42562,-8.5497,-7.27524,-5.66687,-3.80552,-1.78435,0.295979,2.3323,4.22406,5.87835,7.21445,8.16777,8.69301,8.76629,8.38621,7.57381,6.37141,4.84038,3.05799,1.11352,-0.896272,-2.87192,-4.71623,-6.33907,-7.66175,-8.62091,-9.1715,-9.28897,-8.97033,-8.23417,-7.11964,-5.68434,-4.00138,-2.15564,-0.239469,1.65194,3.42532,4.99393,6.28182,7.22754,7.78703,7.93572,7.66952,7.00491,5.97789,4.64207,3.06584,1.32887,-0.481929,-2.27677,-3.96744,-5.47165,-6.71704,-7.64469,-8.21187,-8.39407,-8.18602,-7.60177,-6.67385,-5.45147,-3.99792,-2.38729,-0.700682,0.977879,2.56568,3.98538,5.16885,6.06038,6.61938,6.82214,6.66285,6.15364,5.32376,4.21795,2.89396,1.41961,-0.130735,-1.67992,-3.1518,-4.47506,-5.58658,-6.43453,-6.98075,-7.20248,-7.09328,-6.66312,-5.93772,-4.95702,-3.773,-2.44697,-1.04634,0.35878,1.69917,2.90986,3.93336,4.72236,5.24192,5.471,5.40326,5.04712,4.42509,3.57238,2.53493,1.36699,0.128227,-1.11929,-2.31419,-3.39885,-4.32213,-5.04184,-5.5266,-5.75725,-5.72752,-5.44413,-4.92622,-4.20409,-3.31754,-2.31363,-1.24423,-0.163297,0.875871,1.82326,2.63458,3.27332,3.71242,3.93534,3.93663,3.72196,3.30747,2.71876,1.98934,1.15874,0.270406,-0.630578,-1.49976,-2.29553,-2.98107,-3.52612,-3.90821,-4.11362,-4.13781,-3.98532,-3.66933,-3.21067,-2.63658,-1.97909,-1.27328,-0.555358,0.139173,0.777308,1.33011,1.77402,2.09186,2.27341,2.31566,2.22269,2.0051,1.67922,1.26604,0.789896,0.277111,-0.24546,-0.75182,-1.21812,-1.62376,-1.95233,-2.19219,-2.33684,-2.385,-2.34034,-2.21106,-2.00912,-1.7494,-1.44873,-1.12479,-0.795174,-0.476338,-0.182826,0.0734138,0.283502,0.441876,0.546332,0.597855,0.600261,0.559703,0.484051,0.382221,0.263484,0.136802,0.0102445,-0.1095,-0.217466,-0.310607,-0.387833,-0.449884,-0.499072,-0.538893,-0.573565,-0.607503,-0.64479,-0.688688,-0.741207,-0.802797,-0.872161,-0.946229,-1.02029,-1.08826,-1.14314,-1.17749,-1.18406,-1.15644,-1.08964,-0.980642,-0.828909,-0.636639,-0.408934,-0.153754,0.118322,0.394528,0.660508,0.90107,1.10104,1.24617,1.32407,1.32508,1.24306,1.07597,0.826299,0.501257,0.112649,-0.323468,-0.787431,-1.25684,-1.70765,-2.11541,-2.45654,-2.70976,-2.85726,-2.88592,-2.7882,-2.56283,-2.21515,-1.75712,-1.20698,-0.588575,0.0697032,0.736198,1.37752,1.96021,2.4525,2.82603,3.05745,3.12981,3.03373,2.76811,2.3405,1.76703,1.07186,0.2862,-0.553087,-1.4052,-2.22742,-2.97721,-3.61449,-4.10371,-4.41589,-4.53019,-4.43531,-4.13023,-3.62461,-2.93848,-2.10156,-1.15195,-0.13438,0.901853,1.90531,2.82495,3.61274,4.22614,4.63042,4.80059,4.72287,4.39571,3.83008,3.04926,2.08787,0.990404,-0.190856,-1.39832,-2.57192,-3.65211,-4.58291,-5.31482,-5.80743,-6.03163,-5.97133,-5.62441,-5.00315,-4.13379,-3.05546,-1.81844,-0.481778,0.889498,2.22757,3.46516,4.53895,5.39279,5.98066,6.26912,6.2392,5.8876,5.22709,4.2861,3.10758,1.747,0.269753,-1.25198,-2.74282,-4.12788,-5.33662,-6.30642,-6.98582,-7.33727,-7.33916,-6.98711,-6.29438,-5.29141,-4.02446,-2.55355,-0.949511,0.709343,2.34109,3.86423,5.20176,6.28508,7.0575,7.47724,7.51962,7.17857,6.46708,5.41677,4.07653,2.51021,0.793603,-0.989258,-2.75023,-4.40144,-5.8597,-7.05073,-7.91294,-8.4006,-8.48632,-8.16249,-7.44187,-6.35709,-4.95915,-3.31507,-1.50462,0.383507,2.2561,4.01999,5.58671,6.87694,7.82452,8.37984,8.51246,8.21278,7.49263,6.3849,4.942,3.23338,1.3422,-0.638741,-2.61161,-4.47836,-6.14568,-7.52962,-8.55989,-9.18343,-9.36711,-9.09952,-8.39166,-7.27643,-5.80719,-4.05513,-2.10586,-0.055178,1.9956,3.94469,5.69486,7.15834,8.26117,8.947,9.17995,8.94649,8.2562,7.14145,5.65581,3.87151,1.87591,-0.232814,-2.35051,-4.37224,-6.19748,-7.73515,-8.90821,-9.65749,-9.94471,-9.75445,-9.09493,-7.99772,-6.51618,-4.72289,-2.70606,-0.565207,1.59377,3.66383,5.54215,7.13519,8.36336,9.16507,9.49976,9.34997,8.72228,7.64699,6.17666,4.38354,2.35598,0.194074,-1.99532,-4.10387,-6.02717,-7.66992,-8.95068,-9.80591,-10.1932,-10.0932,-9.51078,-8.47486,-7.0367,-5.26757,-3.25514,-1.09917,1.09349,3.2142,5.15789,6.82834,8.1429,9.03661,9.46543,9.4084,8.86865,7.87326,6.47185,4.7341,2.7463,0.606992,-1.57788,-3.7003,-5.65546,-7.34705,-8.69195,-9.62433,-10.099,-10.0933,-9.60875,-8.67032,-7.32551,-5.64185,-3.7035,-1.60706,0.5433,2.64098,4.5823,6.2716,7.62599,8.57944,9.08597,9.1219,8.68692,7.80407,6.51843,4.8949,3.01483,0.971964,-1.13225,-3.19375,-5.11095,-6.78985,-8.1486,-9.12151,-9.66227,-9.74614,-9.37108,-8.5578,-7.34858,-5.80514,-4.00544,-2.03975,-0.00612475,1.99452,3.86345,5.50897,6.85096,7.82481,8.38447,8.50471,8.18217,7.4354,6.30382,4.84564,3.1348,1.25727,-0.693329,-2.62038,-4.42907,-6.03107,-7.34886,-8.31948,-8.89756,-9.05745,-8.79433,-8.12437,-7.08372,-5.72659,-4.12249,-2.35256,-0.505552,1.3267,3.05385,4.59151,5.86541,6.81499,7.39625,7.58384,7.37209,6.77511,5.82592,4.57459,3.08563,1.43465,-0.295503,-2.01889,-3.65077,-5.11175,-6.33167,-7.25299,-7.83347,-8.04815,-7.89039,-7.37201,-6.52255,-5.38759,-4.0263,-2.50841,-0.91059,0.687459,2.20696,3.57401,4.72315,5.60054,6.16648,6.39717,6.28572,5.84218,5.09288,4.07887,2.85365,1.48043,0.0287583,-1.42889,-2.82081,-4.07957,-5.14525,-5.96836,-6.51207,-6.7539,-6.68659,-6.31828,-5.67182,-4.78348,-3.70089,-2.4805,-1.18465,0.121628,1.37394,2.51168,3.48101,4.23739,4.74765,4.99139,4.96179,4.66562,4.12268,3.36456,2.43279,1.37662,0.250424,-0.889105,-1.9858,-2.9868,-3.84507,-4.52161,-4.98725,-5.22387,-5.22504,-4.9961,-4.55368,-3.92453,-3.14402,-2.25415,-1.30128;