auv-navigation

  AUV惯性导航系统matlab仿真程序，包括轨迹生成、gps和sins组合、gps和dvl组合(AUV navigation system，including sins、gps、dvl and so on.)

程序
....\sage-husa 组合
....\..............\GPS.dat,87600,2007-05-24
....\..............\husagps.asv,9827,2013-03-04
....\..............\husagps.m,10233,2013-03-29
....\..............\IMU.dat,8870033,2007-05-24
....\sins gps常规卡尔曼组合
....\......................\GPS.dat,87600,2007-05-24
....\......................\IMU.dat,8870033,2007-05-24
....\......................\sins1gps.asv,11906,2013-03-10
....\......................\sins1gps.m,11992,2013-03-13
....\sins%2Bdvl 常规卡尔曼
....\...................\basefun
....\...................\.......\a2caw.m,211,2008-03-22
....\...................\.......\a2cnb.m,297,2008-02-21
....\...................\.......\a2cwa.m,193,2008-03-22
....\...................\.......\a2qnb.m,55,2008-02-21
....\...................\.......\align_i0.m,1235,2011-06-05
....\...................\.......\askew.m,131,2008-02-25
....\...................\.......\cnscl.m,482,2007-11-25
....\...................\.......\compassCmd.m,939,2011-06-03
....\...................\.......\compasskxyz.m,554,2009-06-05
....\...................\.......\DR.m,365,2011-06-02
....\...................\.......\drift.m,947,2011-06-04
....\...................\.......\dv2atti.m,444,2010-05-25
....\...................\.......\earth.m,595,2009-06-18
....\...................\.......\getf.m,1143,2009-06-04
....\...................\.......\getf_DR.m,1285,2011-06-06
....\...................\.......\glvs.m,1500,2010-12-30
....\...................\.......\ImuAddErr.m,511,2011-06-06
....\...................\.......\ImuStatic.m,229,2011-06-03
....\...................\.......\kalman.m,556,2011-03-26
....\...................\.......\kfdis.m,683,2008-03-24
....\...................\.......\large_phi_model.m,347,2009-02-11
....\...................\.......\m2att.m,138,2008-02-21
....\...................\.......\m2qnb.m,382,2008-02-21
....\...................\.......\make_dll.m,419,2009-06-03
....\...................\.......\markov.m,986,2011-06-02
....\...................\.......\nav_err.m,237,2011-06-06
....\...................\.......\nav_init.m,853,2011-06-02
....\...................\.......\p2cne.m,222,2010-05-05
....\...................\.......\prls.m,576,2010-06-07
....\...................\.......\q2att.m,55,2008-02-21
....\...................\.......\q2cnb.m,455,2009-02-05
....\...................\.......\q2rv.m,177,2009-02-05
....\...................\.......\qaddphi.m,67,2008-03-24
....\...................\.......\qconj.m,52,2007-11-21
....\...................\.......\qdelphi.m,65,2009-02-05
....\...................\.......\qmul.m,327,2007-11-22
....\...................\.......\qmulv.m,102,2007-11-25
....\...................\.......\qq2phi.m,87,2008-03-31
....\...................\.......\rfu.m,1139,2009-06-01
....\...................\.......\RLS.m,201,2010-06-07
....\...................\.......\rv2q.m,599,2009-04-05
....\...................\.......\sins.m,482,2009-06-04
....\...................\.......\timedisp.m,108,2011-06-04
....\...................\.......\trj.m,858,2009-06-04
....\...................\.......\ukf.m,916,2009-02-11
....\...................\data
....\...................\....\lgimu.dat,3386670,2009-06-04
....\...................\....\trj100ms.mat,375294,2013-06-19
....\...................\test_sins.asv,1925,2012-11-13
....\...................\test_sins.m,1782,2013-03-16
....\...................\test_SINS_Dvl.asv,2244,2013-03-29
....\...................\test_SINS_Dvl.m,1938,2013-03-29
....\...................\test_sins_static.m,971,2011-06-06
....\...................\test_trj.m,2688,2011-06-06
....\...................\tools
....\...................\.....\allan.m,959,2010-01-30
....\...................\.....\d2r.m,49,2010-10-29
....\...................\.....\dm2r.m,100,2010-10-29
....\...................\.....\dms2r.m,160,2010-10-29
....\...................\.....\incre.m,156,2011-06-02
....\...................\.....\meann.m,307,2009-04-16
....\...................\.....\r2d.m,49,2010-10-29
....\...................\.....\r2dm.m,95,2010-10-29
....\...................\.....\r2dms.m,137,2010-10-29
....\轨迹发生
....\........\guiji%2BIMU
....\........\.........\basefun
....\........\.........\.......\a2caw.m,211,2008-03-22
....\........\.........\.......\a2cnb.m,297,2008-02-21
....\........\.........\.......\a2cwa.m,193,2008-03-22
....\........\.........\.......\a2qnb.m,55,2008-02-21
....\........\.........\.......\askew.m,131,2008-02-25
....\........\.........\.......\cnscl.m,482,2007-11-25
....\........\.........\.......\dv2atti.m,318,2009-06-01
....\........\.........\.......\earth.m,578,2009-06-04
....\........\.........\.......\getf.m,1143,2009-06-04
....\........\.........\.......\kalman.m,440,2009-02-05
....\........\.........\.......\kfdis.m,683,2008-03-24
....\........\.........\.......\large_phi_model.m,347,2009-02-11
....\........\.........\.......\m2att.m,138,2008-02-21
....\........\.........\.......\m2qnb.m,382,2008-02-21
....\........\.........\.......\make_dll.m,419,2009-06-03
....\........\.........\.......\q2att.m,55,2008-02-21
....\........\.........\.......\q2cnb.m,455,2009-02-05
....\........\.........\.......\q2rv.m,177,2009-02-05
....\........\.........\.......\qaddphi.m,67,2008-03-24
....\........\.........\.......\qconj.m,52,2007-11-21