third_solve_yy.m

RAIM 完好性分析

function y=Third_solve_yy(k_gps,k_galileo,k_beidou,xs_gps,ys_gps,zs_gps,xs_galileo,ys_galileo,zs_galileo,xs_beidou,ys_beidou,zs_beidou,xu,yu,zu,H,b_gps,b_galileo,b_beidou,e_gps,e_galileo,e_beidou)

%*********************************
% ** 量测向量y
% ** 三系统单独计算统计(暂且不用) 
% **********************************

xs = [xs_gps;xs_galileo;xs_beidou];
ys = [ys_gps;ys_galileo;ys_beidou];
zs = [zs_gps;zs_galileo;zs_beidou];

dx_gps=xs_gps-xu*ones(k_gps,1);
dy_gps=ys_gps-yu*ones(k_gps,1);
dz_gps=zs_gps-zu*ones(k_gps,1);
noise_gps=normrnd(0,10,[k_gps,1]);
rou_gps=sqrt(dx_gps.^2+dy_gps.^2+dz_gps.^2)+noise_gps+b_gps+e_gps;

dx_galileo=xs_galileo-xu*ones(k_galileo,1);
dy_galileo=ys_galileo-yu*ones(k_galileo,1);
dz_galileo=zs_galileo-zu*ones(k_galileo,1);
noise_galileo=normrnd(0,10,[k_galileo,1]);
rou_galileo=sqrt(dx_galileo.^2+dy_galileo.^2+dz_galileo.^2)+noise_galileo+b_galileo+e_galileo;

dx_beidou=xs_beidou-xu*ones(k_beidou,1);
dy_beidou=ys_beidou-yu*ones(k_beidou,1);
dz_beidou=zs_beidou-zu*ones(k_beidou,1);
noise_beidou=normrnd(0,10,[k_beidou,1]);
rou_beidou=sqrt(dx_beidou.^2+dy_beidou.^2+dz_beidou.^2)+noise_beidou+b_beidou+e_beidou;
rou = [rou_gps;rou_galileo;rou_beidou];

k = k_gps+k_galileo+k_beidou;
AuS=zeros(k,1);

for i=1:k
    AuS(i,1)=H(i,:)*[xs(i,1);ys(i,1);zs(i,1);0;0;0];          %用公式算出矩阵Au*S的值
end

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