AUV navigation system，including sins、gps、dvl and so on.

程序\sage-husa 组合\GPS.dat
....\..............\husagps.asv
....\..............\husagps.m
....\..............\IMU.dat
....\.ins gps常规卡尔曼组合\GPS.dat
....\......................\IMU.dat
....\......................\sins1gps.asv
....\......................\sins1gps.m
....\....+dvl 常规卡尔曼\basefun\a2caw.m
....\...................\.......\a2cnb.m
....\...................\.......\a2cwa.m
....\...................\.......\a2qnb.m
....\...................\.......\align_i0.m
....\...................\.......\askew.m
....\...................\.......\cnscl.m
....\...................\.......\compassCmd.m
....\...................\.......\compasskxyz.m
....\...................\.......\DR.m
....\...................\.......\drift.m
....\...................\.......\dv2atti.m
....\...................\.......\earth.m
....\...................\.......\getf.m
....\...................\.......\getf_DR.m
....\...................\.......\glvs.m
....\...................\.......\ImuAddErr.m
....\...................\.......\ImuStatic.m
....\...................\.......\kalman.m
....\...................\.......\kfdis.m
....\...................\.......\large_phi_model.m
....\...................\.......\m2att.m
....\...................\.......\m2qnb.m
....\...................\.......\make_dll.m
....\...................\.......\markov.m
....\...................\.......\nav_err.m
....\...................\.......\nav_init.m
....\...................\.......\p2cne.m
....\...................\.......\prls.m
....\...................\.......\q2att.m
....\...................\.......\q2cnb.m
....\...................\.......\q2rv.m
....\...................\.......\qaddphi.m
....\...................\.......\qconj.m
....\...................\.......\qdelphi.m
....\...................\.......\qmul.m
....\...................\.......\qmulv.m
....\...................\.......\qq2phi.m
....\...................\.......\rfu.m
....\...................\.......\RLS.m
....\...................\.......\rv2q.m
....\...................\.......\sins.m
....\...................\.......\timedisp.m
....\...................\.......\trj.m
....\...................\.......\ukf.m
....\...................\data\lgimu.dat
....\...................\....\trj100ms.mat
....\...................\test_sins.asv
....\...................\test_sins.m
....\...................\test_SINS_Dvl.asv
....\...................\test_SINS_Dvl.m
....\...................\test_sins_static.m
....\...................\test_trj.m
....\...................\.ools\allan.m
....\...................\.....\d2r.m
....\...................\.....\dm2r.m
....\...................\.....\dms2r.m
....\...................\.....\incre.m
....\...................\.....\meann.m
....\...................\.....\r2d.m
....\...................\.....\r2dm.m
....\...................\.....\r2dms.m
....\轨迹发生\guiji+IMU\basefun\a2caw.m
....\........\.........\.......\a2cnb.m
....\........\.........\.......\a2cwa.m
....\........\.........\.......\a2qnb.m
....\........\.........\.......\askew.m
....\........\.........\.......\cnscl.m
....\........\.........\.......\dv2atti.m
....\........\.........\.......\earth.m
....\........\.........\.......\getf.m
....\........\.........\.......\kalman.m
....\........\.........\.......\kfdis.m
....\........\.........\.......\large_phi_model.m
....\........\.........\.......\m2att.m
....\........\.........\.......\m2qnb.m
....\........\.........\.......\make_dll.m
....\........\.........\.......\q2att.m
....\........\.........\.......\q2cnb.m
....\........\.........\.......\q2rv.m
....\........\.........\.......\qaddphi.m
....\........\.........\.......\qconj.m
....\........\.........\.......\qdelphi.m
....\........\.........\.......\qmul.m
....\........\.........\.......\qmulv.m
....\........\.........\.......\qq2phi.m
....\........\.........\.......\rfu.m
....\........\.........\.......\rv2q.m
....\........\.........\.......\sins.m
....\........\.........\.......\trj.m
....\........\.........\.......\ukf.m
....\........\.........\glvs.m

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