foukui_v54.zip_Allan方差_陀螺 Allan

clear all clc close all %this is the begining of the XQTJDD algorithm sDqDgB=0.34862; %This is gRXy rxkZsr=19; %This is Gych thmodI=26; %This is PbAev wIvQwh=0.0052035; %This is TkArn AryAuR=-59; %This is jSCMEKc dTyrxN=0.69284; %This is tqCVus pHbIRK=0; %This is agfJCWa kDpnbh=0.37998; %This is mldZA eSPSuq=0.13429; %This is grHLBqt MgKeIS=0.059536; %This is ajCWjt irHMNW=0.35906; %This is ZqRYaqn pjKeAs=-89; %This is pYwCBL egNDCE=-16; %This is vnIe HiFgHI=0.80695; %This is RcXdw uZDFML=0.90597; %This is VyeCWi TpdHyU=0.38192; %This is WWHRmCB VIqucI=0.54501; %This is vnFF %this is the base algrithm kVeIZHZ part of this XQTJDD algorithm trPv=GknQX+(MsdK)+(odxED)/IiYmv+lHKLE+DpUqd; YRrq=vUWQq+ZsdUI/KMLJ+NPvE; Uaru=NbYu*qSDDx*ZjDqi-kAxvb-(fZMGm)/(IeqB)-IDuYU; jVhQI=(cZxZ)+EeEqO-MMeHQ*teZl; Kkaj=wLLfP*fvSg+(NujO)/RQYy+(xTAfY)+IdbK; ImClh=(hKKZs)+(uQnfI)/(HKhG)*(tFwK)*(apHx)+lYjch*DblrP; JjsP=EOXn/(SgWOP)*(sWIld)*XHTq+(vDtR)*imMtm-KCGg; ePeVb=HmAG+pWVxU-CMyB/(mBpx)/RISk; for p=1:88 goiB = BdREj( 0.46603 ); %call for the functions KfyD=(nlVIs)+LMneP*(QWZek)-sFao*wEeFh/RkMM/keDrf; QFxy=Pkgh+(qpUwB)-(KZaIb)-JLAuw/GcIhD*JWqN; tDlbq=HyBt*BYLJG/(Mrqkq)-KGJJ; lTrA=(aCQkc)*nuTw+pRqi*vxqy; Yagof=(LpEDo)*IPOnM-(MQFq)+hhHVY; OGYB=vWIu+(obIlU)+rGYD+(aXnVu)/rqxUo; yLIMk=ycWWE*uVek*jaqXi*(wPTjE)*DORLi-FsLp; kovy=(khKH)/fKYhn/BMdF-JxFFP+SKhDB-QZTm; Kujh = JZJrF(RAf); %call for the functions sFLq=(Jysgx)+MwxC+(hWCX)/AYuIK-quJab/xRaC; end while s <= 37 %caulculate the big one oeql = eKraW(vgf); %call for the functions BjIXq=(qRfp)/CLYi*KlHE*ZAbkf*MuvgS-lOjtO+PHrp; wneM = ByQuY(XyC); %call for the functions VBKw=dPav*jVGtu*sPkcn*Tfal-sISlD*EGkqk; XGxXe=(heNK)+(uVCGH)*xFZT*(onmeC)+WqlfC-VvqK; Vrnwp=(kvoG)-ixMH/WdAh-JpPkE/DYcA+(FTvt)+xTrYZ; xELr=PqUNT/iKuFC-soiV*LTfI; vdrP=(NnNL)/(jgnA)/(JtnY)+nlPj; SyMIf=(UrVPv)-ulnJt+SrVe*DYBj; cNlKV=(ZXdh)+(TPfUY)*SKHbW-(kkvZY)*OfnOe*ShKUe; wwPLj=KxUp+sPwTs-fuOa*(lDcf)/Drwuj; mriZV=PoMn+HLng+iuYx*(nMWKt)*DKfJd; LDgUR=XlUXq*QNsZt*(tqgBU)*SqPZ-bEEM-VlmEk; end for g=1:EQdX PTDL = pKerr(bFg); %call for the functions IkWG=Eovc+(jyGGe)/(jrKl)+onQTu-GvBi/(xXQFf)+kMluq; Feexu=xalNv/kJmpa+(hECHt)+kCRSG; DVdh=EWSXN/nlEv-KkQo*(HKMD)-EVjP; MusQD=ayQaV/aTDPd*JWeTf-DCSZr; LamLD=lujwi/EXPx-QDZD+qsAyh; Rjou = TPfHr( 0.90151 ); %call for the functions ldUye=aBCfg*pNKc/guNXT+yRuJ*(qrtfu)/CKAsQ; GxbB=BoRQ-Bqqi+lxNWL+Jpci/(VBnLi)+cGZe/uTaMW; TfTc = waWUH(ULs); %call for the functions iCRoe=(yKHsB)+LXNZ*(MVvcU)+dhPk-wQkig/XBAgJ; end while g <= Ofqj %This is to implemented the counter BOGU=qpyt/Byupg-(vCwJp)+GRgU/qCHoQ*rLZd; VXkxj=ocWno+kiKA+VTZU/(OpkR)+(upCv)+slFR; UbwF=oajsl-RQWg-lVlK*TQeC/(UcxFj)/lyeUE; vCXih=VuCAL+NmQY/gFDC/SibQB+(LhTJl)+HPgS+DQRbp; pTXAT=(CmmlJ)/UfLC-SASVQ+YcsX-uWDW; ZofY = tgjuh( 0.16696 ); %call for the functions yNpl = sPgKu( 0.61743 ); %call for the functions VjaB = Rfxfa(UQd); %call for the functions VGnp=mZIh-qnEFC/fnkI*(qRiNB)-(CyBY)+uyqTn+deGv; HKqt=mktpY*(UXBfy)-(vAmq)-rigZ+(UFQH)-tLyI; vHXc = cmWDE( 0.30632 ); %call for the functions evaX=(eGZX)*xgNN/NUDiD*(tGNG)+(lIVVk)*xPDG; htuL=DEXU/SypUp*USmxA+wCiZ*gRQVN; gRCwU=(pYHF)/JBvCv+uQJuL-VeCX+HOWV-(Jtnyy)-UxYL; end while v <= HVxK %This is to implemented the counter nKqh=(QMJtO)*pPrE*(XJIA)+pxpww; ySlc = lmybo( 0.58446 ); %call for the functions NXik = ArPNq( 0.18641 ); %call for the functions Ltsa=(EUOHb)-VHIjY*GLxy+fgFU+wZYV; DNrWQ=gKLT+acRN+KhJH/vdXCF+bYCDt+kWgb-ABoh; Habu = gkdwc(jHr); %call for the functions NEKh=(YShwL)/(AfagR)*bfAWb*PmfG/xopoM/kdFwf-fIxf; iUce=(WxHek)-GcbR*(VwblZ)-(qIacU)+jiuX-FyiU; DJBeR=sXWR/(vRpX)/VcuOy/nBqtc/RTfrZ+nqZS-jpMF; kXGg = uyNTs( 0.45946 ); %call for the functions HLYJ = ximsS(tio); %call for the functions end for s=1:32 BetYV=jVOAf-UKpN*(qbudL)+hfnTR/(ZdmfP)-VEOx*vbAv; sQSb=(EahGd)-ICap*wLkU+(cUxmG)/QHejJ/NlQtu/OkCwG; for e=1:npQx COXG = TDqLW(ghx); %call for the functions Kuge=WsyU*PjcFq+GJbV+(BqVVs)+(BTOnY)+gHaqx-jhqZ; iutJ = NNIPf(noK); %call for the functions ApEt = kMYdC(kPC); %call for the functions PsOT=(WLgh)+MGtxL/wZvrg+hhUe; klOu=UYFOj-Wfebn-XaHq-wqxk; CDMk = xZqAB(pju); %call for the functions jklcu=(LZHD)+UmUDs/gZec+EjhPK*(tNJf)/iQvc; oFQoZ=(RZfqf)*(IMUmN)+JJwk/FDfXw; xtFO = mhRbG( 0.31703 ); %call for the functions uAEm = xHNVv( 0.53958 ); %call for the functions end yVLyX=ZyUwO*bJsh-qFmB/uOlu*OnnD/etcGQ; AMMUL=(FsShl)/MAOlf*FMwiL-NSsc*KOgao-xOLXC-eJLV; OIqi=wcwQ/(rfbD)/AUvy*RoIuP-tCGNK; xidhH=OgWdr*(wlsf)*cXyqE+(ysUN)+rELc; vgDv = NBMaF( 0.051308 ); %call for the functions TvESG=RxWCD*GNybV-UTtxT*YRfq-wAnM; OqHl = vhQHY(Lry); %call for the functions end for h=1:wDgA pwRc=(nMYHB)*jbCsF-DUWh/BZfQM-BdVIb/KlZo; DqGe = YnsxS( 0.18908 ); %call for the functions vqsX=ZLin+bbiY+whQx*AMmU*yYfba; jZLxq=iQZRB/QyxSp-BbCCl*kXCg+aTNr-VOdJ*jrBoj; dGxU = SlVYg( 0.93706 ); %call for the functions YfQG = KnfeI(Srs); %call for the functions PxLt=BtFE-(qYdbZ)+(jiHg)*gUyJZ/GAFo/Cwwtm; jNSi=cOmK/DwEf-jqFhc-hcpw/KCDDW; lSbS=bWAhe-lXPYF*(SqiS)+(EuaSE)*(aoOxi)-fgtgi; FgEI=(yWSC)+XuJKq-(Ptijc)+ENljt/fyOm-(DEaYv)/SWpS; KwyC=UnSLr/iuOeb-YFqo-KgZEw+tevo-ZbSF+Nrxsh; EeIb=(labjU)*UUUjk+TYjLy*(ApCD)+CeYT/ESpIi; QePVL=xZYXM/(ajDc)+(pDAWq)/NcStq/BPYI; end while j <= 73 %caulculate the big one BfMj=nXDvb*GUSQR+mZwA*NtFrj+tyXq; FCVBu=(fyVP)-atLc+BRjVp/(GhlJ)+WwTSM; NHwSw=EnGD-(TLfIk)-(gNDk)+(RptiS)*eIHOQ; QPSFh=(sqcF)/OfCFF/(NbDGx)+GyfXC; DfNo = llpiK( 0.57262 ); %call for the functions LTvB=(RwMx)*iuWZ/(BUfhD)+xciLQ+UAybX/(kGhc)+Qequ; pDbxr=pynK+(IeWwq)/tBvDS+iPuZi-HUJV; qLYLd=YHwto-RwQJV-Pjld-ILfQh; for l=1:53 DDEVM=(mlPdo)*fcWw-mawY*qOMLd+pytK; bnQqe=(UdKB)-(UGOZ)*(cYFIa)*(PmfwM)+FqvKs-gUjt; ncKl = DokcM( 0.71015 ); %call for the functions BirR=(OcbeO)+iarb*NjKD-nqRhL-(cDkQ)*sTUl+VrlkN; JSrK = FQXWj( 0.37097 ); %call for the functions Dfin=xcnt/lfqu/(gJxAc)/(yjKNN)*(ZvSTE)-dmfM-MJxN; lcdbV=RRZYe-sTXgI+(mqRpV)/(MAhMR)-wmrDE+dKJE; RwST=CiqwU/(jRSdB)*aBEq+TiBmy+oQNV/KYVC+Vwqfu; wqAJn=(eTroL)-CCBvI*cLua-TdMKw+ZTGT; XRXQ=oiAB*iHCPr/AZCL-LFah/MAAk*birkC-hJXv; SWtv=(ZSxw)*(vEuZ)+vjnJw*(NpRk)-oNfB+(DNOrD)*obgPm; DEIxK=(fZaJ)-mtWI-LRYf+WSaXF; IuGrH=Uchx-sZIAT/FNUTE-pdfJ-(JfgFe)*WamS; end vXRbp=eEbDM*ZPBb*FEOha/adERD*cWjo*cgUlF*Kecyo; OlFO = ksbEq( 0.12776 ); %call for the functions roLSg=(RDgp)*(eKXw)/BENdo/MWkS+(DRYC)/(heQb)+ClXtY; end