0,-0.00233702,-0.00123099,-2.73759,1.94841,0.342568,110.959,-18.2559,-3.24407,0.0198468,0,0,4.72931e-07,-8.43449e-08,2.54481e-07,1.78203e-07
0.1,-0.00428936,-0.00199683,-2.73585,0.122816,0.0181613,110.957,-18.3005,-3.26196,0.0295231,9.50804e-10,2.90347e-09,-8.54231e-07,-8.43403e-08,2.54687e-07,1.78203e-07
0.2,-0.00637337,-0.00389885,-2.73481,-1.70724,-0.308032,110.954,-18.3481,-3.27583,0.0398801,8.9245e-09,1.33471e-08,-3.80521e-06,-8.43373e-08,2.5461e-07,1.78203e-07
0.3,-0.0087733,-0.00507508,-2.72993,-3.5421,-0.635509,110.95,-18.3976,-3.28959,0.0496343,6.86368e-08,1.07948e-07,-2.30472e-05,-8.43321e-08,2.53619e-07,1.78204e-07
0.4,-0.0115324,-0.00567708,-2.72358,-5.38204,-0.964069,110.945,-18.4513,-3.30036,0.0609141,1.80384e-07,3.61568e-07,-6.25343e-05,-8.43346e-08,2.51764e-07,1.78206e-07
0.5,-0.0139631,-0.00618378,-2.72144,-7.22737,-1.29368,110.939,-18.5052,-3.31024,0.0701799,2.56013e-07,5.85457e-07,-9.02075e-05,-8.43423e-08,2.50585e-07,1.78206e-07
0.6,-0.016496,-0.00714436,-2.722,-9.07795,-1.62455,110.932,-18.5588,-3.31756,0.0791089,2.7702e-07,6.42499e-07,-9.60655e-05,-8.43449e-08,2.503e-07,1.78207e-07
0.7,-0.0158569,-0.00864239,-2.72512,-10.933,-1.95824,110.924,-18.6131,-3.33065,0.0884848,5.71065e-08,1.67992e-07,-5.44651e-05,-8.43223e-08,2.5284e-07,1.78206e-07
0.8,-0.0200066,-0.0101956,-2.72212,-12.7962,-2.28703,110.915,-18.6774,-3.327,0.0978852,4.67521e-07,9.08531e-07,-0.000114281,-8.43605e-08,2.48635e-07,1.78207e-07
0.9,-0.0211478,-0.011073,-2.72262,-14.6643,-2.61881,110.905,-18.7382,-3.33151,0.108966,5.40939e-07,1.05284e-06,-0.000124676,-8.43681e-08,2.4793e-07,1.78207e-07
1,-0.0141674,0.0387643,-2.72393,-17.6996,-2.32575,111.036,-18.3237,-3.2071,0.0545152,-9.97354e-05,-9.89249e-05,-0.000112015,-0.000844573,7.34332e-07,0.0182887
1.1,-0.0158682,0.038778,-2.72435,-19.5319,-2.64646,111.031,-18.3399,-3.19778,0.0593104,-9.97264e-05,-9.88392e-05,-0.000117726,-0.000844571,6.15553e-07,0.0182887
1.2,-0.017847,0.0380836,-2.7279,-21.3659,-2.96626,111.025,-18.3552,-3.18763,0.0655744,-9.98878e-05,-0.00010006,-3.73672e-05,-0.000844608,2.23986e-06,0.0182887
1.3,-0.018616,0.0371997,-2.72967,-23.2015,-3.28503,111.018,-18.3708,-3.17586,0.0715868,-9.99219e-05,-0.00010026,-2.46149e-05,-0.000844615,2.50155e-06,0.0182887
1.4,-0.0198379,0.036354,-2.73088,-25.0385,-3.6026,111.011,-18.3876,-3.1648,0.0802876,-9.98572e-05,-9.9942e-05,-4.43329e-05,-0.000844601,2.09416e-06,0.0182887
1.5,-0.0218261,0.0353412,-2.73156,-26.8773,-3.91909,111.003,-18.4067,-3.15181,0.085983,-9.9865e-05,-9.99741e-05,-4.24044e-05,-0.000844603,2.13522e-06,0.0182887
1.6,-0.0231802,0.0341126,-2.73414,-28.7179,-4.23435,110.994,-18.4271,-3.13576,0.0920839,-0.000100322,-0.000101519,4.69427e-05,-0.000844661,4.13884e-06,0.0182887
1.7,-0.0254494,0.0336901,-2.7351,-30.5606,-4.54794,110.985,-18.4498,-3.12006,0.0983183,-0.000100397,-0.000101785,6.17167e-05,-0.00084467,4.45037e-06,0.0182887
1.8,-0.026002,0.032738,-2.73388,-32.4057,-4.85981,110.975,-18.4734,-3.10202,0.105258,-9.97702e-05,-9.97652e-05,-4.56513e-05,-0.000844611,2.14779e-06,0.0182887
1.9,-0.0271131,0.0319824,-2.73421,-34.253,-5.17,110.965,-18.4951,-3.08463,0.113119,-9.97104e-05,-9.95791e-05,-5.51592e-05,-0.000844606,1.94618e-06,0.0182887
2,-0.00188527,0.0471336,-2.7387,-36.2712,-5.97812,111.052,-18.2783,-3.24824,0.0322929,-0.0115963,-0.00680467,-0.000759922,-0.00250583,0.00020835,0.0572552
2.1,-0.00146245,0.0465396,-2.73788,-38.0989,-6.30292,111.049,-18.2803,-3.24588,0.0336354,-0.0116281,-0.00680982,-0.00102021,-0.00250493,0.000203406,0.0572546
2.2,-0.00261879,0.0458189,-2.73885,-39.927,-6.62751,111.046,-18.2812,-3.24464,0.0377363,-0.0116226,-0.00680891,-0.000969636,-0.00250509,0.000204362,0.0572547
2.3,-0.003517,0.0453864,-2.73726,-41.7551,-6.95193,111.042,-18.2848,-3.24298,0.0407106,-0.0116492,-0.00681332,-0.00124023,-0.00250429,0.000199415,0.0572542
2.4,-0.0035406,0.0440984,-2.7379,-43.5836,-7.27622,111.038,-18.2903,-3.24065,0.0420013,-0.0116515,-0.00681371,-0.00126645,-0.00250422,0.000198904,0.0572542
2.5,-0.00339355,0.0442208,-2.73674,-45.4126,-7.60023,111.034,-18.2971,-3.23964,0.0433785,-0.0116677,-0.00681643,-0.00146975,-0.00250371,0.000195309,0.0572538
2.6,-0.00361385,0.0443822,-2.73914,-47.2423,-7.92426,111.029,-18.3038,-3.23977,0.0459033,-0.0116515,-0.00681371,-0.00124609,-0.00250424,0.00019886,0.0572542
2.7,-0.00283317,0.0448996,-2.73665,-49.0726,-8.24811,111.025,-18.3096,-3.23716,0.0480044,-0.0116784,-0.00681822,-0.0016541,-0.00250335,0.000193261,0.0572535
2.8,-0.00330364,0.043909,-2.73658,-50.9036,-8.5718,111.02,-18.3143,-3.23601,0.0497395,-0.0116828,-0.00681898,-0.00172927,-0.0025032,0.000192167,0.0572534
2.9,-0.00392524,0.0442874,-2.73787,-52.735,-8.8954,111.015,-18.3203,-3.23542,0.0514016,-0.0116826,-0.00681895,-0.00172595,-0.0025032,0.00019221,0.0572534
3,0.00354611,0.0445537,-2.74087,-54.5645,-9.55337,111.23,-18.288,-3.2972,0.0411126,-0.0148849,-0.00733983,-0.00161546,-0.00263731,0.000239963,0.0614305
3.1,0.00291992,0.0440879,-2.7419,-56.3933,-9.88307,111.226,-18.29,-3.30205,0.0423841,-0.0148884,-0.00733799,-0.00169548,-0.00263714,0.000238842,0.0614304
3.2,0.00282616,0.0438378,-2.74038,-58.2223,-10.2132,111.221,-18.2934,-3.3067,0.0436962,-0.0148998,-0.00733146,-0.00199363,-0.00263655,0.000234826,0.0614302
3.3,0.0030982,0.042849,-2.73933,-60.0516,-10.5439,111.217,-18.2963,-3.31134,0.0448776,-0.0149109,-0.00732444,-0.00232921,-0.00263592,0.00023005,0.06143
3.4,0.00292107,0.0429641,-2.73989,-61.8812,-10.875,111.213,-18.3012,-3.31588,0.0485588,-0.014911,-0.00732432,-0.00233561,-0.00263591,0.000229966,0.06143
3.5,0.00296269,0.0428248,-2.73921,-63.7113,-11.2066,111.208,-18.3046,-3.32003,0.0496342,-0.0149188,-0.00731819,-0.00265647,-0.00263538,0.000225974,0.0614298
3.6,0.00265985,0.0426303,-2.7399,-65.5418,-11.5386,111.203,-18.3102,-3.32392,0.0517627,-0.0149176,-0.00731926,-0.00259803,-0.00263547,0.000226671,0.0614298
3.7,0.0033581,0.0417388,-2.73916,-67.3728,-11.8709,111.198,-18.3128,-3.32797,0.0527345,-0.0149216,-0.00731495,-0.00284315,-0.00263513,0.000223594,0.0614297
3.8,0.00336102,0.0418377,-2.73878,-69.204,-12.2037,111.192,-18.3195,-3.33364,0.0544623,-0.014924,-0.00731178,-0.00303198,-0.00263488,0.000221407,0.0614296
3.9,0.00428285,0.0414832,-2.73664,-71.0359,-12.5371,111.187,-18.3242,-3.3385,0.055131,-0.0149289,-0.00730348,-0.00354497,-0.00263426,0.000215568,0.0614294
4,-0.000271768,0.0463305,-2.73734,-73.1457,-12.7228,111.07,-18.3047,-3.2824,0.0697762,-0.0134829,-0.00884855,-0.00362315,-0.00245453,0.000241612,0.0572075
4.1,-0.000620767,0.0470272,-2.73743,-74.9762,-13.0511,111.063,-18.3073,-3.28298,0.0720726,-0.0134831,-0.00884885,-0.00361016,-0.00245454,0.000241717,0.0572075
4.2,-0.000847392,0.0469611,-2.73715,-76.8069,-13.3793,111.056,-18.3087,-3.28251,0.0743538,-0.0134795,-0.00884411,-0.00382222,-0.00245441,0.000240098,0.0572075
4.3,-0.000613849,0.0470588,-2.73719,-78.6378,-13.7076,111.049,-18.3105,-3.28199,0.075206,-0.0134805,-0.00884523,-0.00377038,-0.00245444,0.000240458,0.0572075
4.4,-0.00090775,0.0476564,-2.73755,-80.4688,-14.0358,111.041,-18.3126,-3.28268,0.0752706,-0.0134807,-0.00884549,-0.0037578,-0.00245444,0.000240527,0.0572075
4.5,-0.001499,0.048313,-2.73672,-82.3001,-14.364,111.034,-18.3147,-3.28267,0.0777972,-0.013474,-0.00883931,-0.0040675,-0.00245433,0.000239266,0.0572074
4.6,-0.0022763,0.0483676,-2.73702,-84.1316,-14.6923,111.026,-18.3141,-3.28044,0.0805088,-0.0134743,-0.00883958,-0.00405333,-0.00245434,0.000239317,0.0572074
4.7,-0.00224014,0.0495331,-2.73738,-85.963,-15.0203,111.018,-18.314,-3.27629,0.0830402,-0.0134723,-0.00883809,-0.00413362,-0.00245432,0.000239197,0.0572074
4.8,-0.00298374,0.0499437,-2.73688,-87.7944,-15.348,111.01,-18.3136,-3.27363,0.0841795,-0.0134653,-0.00883329,-0.00440138,-0.00245426,0.000239037,0.0572073
4.9,-0.00263261,0.0505938,-2.736,-89.6258,-15.6754,111.001,-18.3149,-3.26911,0.0855522,-0.0134609,-0.00883051,-0.00456212,-0.00245424,0.000239137,0.0572073
5,-0.0077171,0.0538947,-2.73637,-91.4696,-15.9127,110.828,-18.2995,-3.18259,0.0368182,-0.0118464,-0.00989676,-0.00481277,-0.003051
daim-master.rar （60个子文件） 
BasicEKF-master BasicEKF-master SimCpp InsGpsEulerDirectEKF DATA 
generate_uav_sensors_measurement_for_cpp.m 2KB UavData_SquareSpiral.mat 413KB
UavData_SquareSpiral.txt 543KB EstInsGpsEulerDirectEKF.txt 599KB generate_uav_sensors_structure.m 8KB visualize_results.m 3KB InsGpsEulerDirectEKF.vcxproj.user 165B InsGpsEulerDirectEKF.vcxproj 8KB .vs InsGpsEulerDirectEKF v16 Browse.VC.db 6.37MB .suo 62KB ipch AutoPCH f6dbf60779c985e0 INSGPSEULERDIRECTEKF.ipch 30.25MB 2986cf6f50a0d123 CLSBASICEKF.ipch 7.63MB a0787f2df751ed8d MAIN.ipch 43.06MB daca0259fd726ed6 AXISANGLE.ipch 7.63MB 479b5be9c26eb61d MAIN.ipch 40.5MB d8dcf2a64a1fdac8 AXISANGLE.ipch 7.63MB 1fe6c990f1dea707 MAIN.ipch 43.06MB Release InsGpsEulerDirectEKF.Build.CppClean.log 1KB InsGpsEulerDirectEKF.log 3B InsGpsEulerDirectEKF.vcxproj.FileListAbsolute.txt 0B matrix filter.hpp 558B Vector3.hpp 2KB Vector.hpp 2KB AxisAngle.hpp 4KB integration.hpp 978B SquareMatrix.hpp 5KB helper_functions.hpp 583B Scalar.hpp 1KB Dcm.hpp 4KB math.hpp 294B Quaternion.hpp 10KB Euler.hpp 4KB Vector2.hpp 1KB Matrix.hpp 12KB main.cpp 7KB main.h 651B InsGpsEulerDirectEKF.hpp 20KB InsGpsEulerDirectEKF.vcxproj.filters 3KB Debug InsGpsEulerDirectEKF.Build.CppClean.log 1KB InsGpsEulerDirectEKF.ilk 1.14MB vc142.idb 187KB InsGpsEu.2CA483A7.tlog CL.write.1.tlog 852B CL.command.1.tlog 928B link.command.1.tlog 2KB link.read.1.tlog 3KB link.write.1.tlog 956B InsGpsEulerDirectEKF.lastbuildstate 256B CL.read.1.tlog 23KB vc142.pdb 540KB InsGpsEulerDirectEKF.pdb 1.17MB
InsGpsEulerDirectEKF.exe 217KB InsGpsEulerDirectEKF.log 5KB InsGpsEulerDirectEKF.vcxproj.FileListAbsolute.txt 0B main.obj 658KB InsGpsEulerDirectEKF.sln 1KB _TEMP matlab.mat 490B SimMatlab UavData_SquareSpiral.mat 413KB run_state_estimation_ins_euler_directEKF_method.m 21KB help_formula_derivation_ins_euler_directEKF_method.m 2KB generate_uav_sensors_structure.m 8KB资源评论
