dpsidq.m

GPSINS组合定位的MATLAB程序,GPS/INS组合的MATLAB程序

function C = dpsidq(q)
%   This will compute the derivative of the Euler
% angle psi wrt q0 to q3 quaternions.  
% The result is a row vector dpsi/dq0 ... dpsi/dq3.
% The input is a row vector [q0 ... q3].

q0 = q(1);
q1 = q(2);
q2 = q(3);
q3 = q(4);

% PSI section
err = 2/((1-2*(q2^2 + q3^2))^2 + (2*(q1*q2 + q0*q3))^2);
C(1,1) = q3*(1-2*(q2^2 + q3^2))*err;
C(1,2) = q2*(1-2*(q2^2 + q3^2))*err;
C(1,3) = (q1*(1-2*(q2^2 + q3^2)) + 2*q2*(2*(q1*q2 + q0*q3)))*err;
C(1,4) = (q0*(1-2*(q2^2 + q3^2)) + 2*q3*(2*(q1*q2 + q0*q3)))*err;