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BSD-2-Clause

Tightly Coupled INS GNSS

本程序基于教材: Paul D. Groves, 练军想, 唐康华, 潘献飞. GNSS与惯性及多传感器组合导航系统原理 : Principles of GNSS, inertial, and multisensor integrated navigation systems. 北京:国防工业出版社, 2015. 附赠的INS/GNSS紧组合仿真代码进行修改得到,能够实现基于伪距、伪距率、INS数据的紧组合解算。 文件夹CalculateTCRes为紧组合解算程序,INS_GNSS_Demo_7为主脚本 文件夹SharedMat为运行所需常量数组 文件夹TCdata为一组手推车实验数据,包含InertialExplorer软件INS/RTK模式输出的参考导航解(DGNSSRES文件夹),预处理后的GNSS观测(GNSSObsForCouple文件夹),预处理后的INS观测(IMU文件夹),双GNSS天线测向数据(SPANE1文件夹)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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INS/GNSS紧组合程序,使用伪距、伪距率、INS测量,支持双天线测向数据。 展开 收起
MATLAB
BSD-2-Clause
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