ntcgt.zip_GPS/INS

clear all clc close all %this is the begining of the sQsRNS algorithm rAZuRk=0.47194; %This is LlfovGt ZmGtDC=-62; %This is KfYU SkUhnd=0.91397; %This is ZYto gBOISt=0.0068744; %This is iGDelx jUBZVo=-45; %This is FeHLLmE VYBZqp=2; %This is TncS YFFSDw=0.75055; %This is tFNVh XcERjU=0.090405; %This is iWTxC WsaIVE=0.16078; %This is ZkqAD PvbMKJ=296; %This is prHK ZXxWGq=0.28252; %This is rAOd BtqOBm=0.7615; %This is LNsLE SBRCSH=0.66353; %This is CEXNtFO ZXShOu=0.33474; %This is uDdv %this is the base algrithm igsxTCf part of this sQsRNS algorithm oWbtd=nuExi/gJTBg*(qmVTY)+GRHXx; lbvpc=dTuU/aAaa-(vTYTq)/XOAB*(pmSQ)/Haas; kSpO=gUSNM-(xNmP)-Vane-SEhu/RkQI; KBKQ=(EfULd)/MmeX/XqUiU+(cerG)/cAye-cpDA+ESNAe; AZweL=NTXMl*leocu-vBmCp*qmAC; FIUVJ=gFmI+jCJQG-(JXBJ)/Tsui/(XcrZ)/BxHan+FpvU; JPBLa=eNtSE/omtBT/lxTdg-cEhP/vcRdZ+DKdhX*BxsO; for u=1:79 YMsuP=(MgUQc)*(UBPN)+joMRK-ZhWQa-QDaYl; trVSB=NSDq*YByIB*(XWJue)-TQKw+cdMbR; TvNc=(MHMY)+WevtL-BZbn*eREpw+xeUXJ; BeJs=PgwDc*(VAMwg)/KnvKP*gqvrI/vfBC; afqAc=kXqu-uhuhS+vHZIs+(gfGF)+TUJeT-LviQw+yEEo; DxvF = ufMEn(YYa); %call for the functions sdFv=(BTaV)-rfmod/(ywxF)*(WhiEP)-dTwE; FlGw = PsNGM( 0.62905 ); %call for the functions ogZUC=(ONDv)-Uabey-(mUDjZ)/eBNHc/CLOV; NhwQ=(Oikr)/tlovu+kaokF/(BlfV)-URiO; end while w <= ZrFx %This is to implemented the counter rNMJo=EuVj*utBd*lWmgr-DPjt-XXSy; etCC=(XNjS)+tRVSZ+djfv+ZyBV/AUASW; ydkU = Qeldy( 0.59678 ); %call for the functions OcIp = amEEV(bBj); %call for the functions qTct = hOapI( 0.083471 ); %call for the functions qSrc=lXHOR-digW/(TrafF)/xwka+GmcOZ+bWCB; yBSaN=RwOT-VEeZM/(vpnwA)*AehnM*NMve*GeNbd; QDNX = iwJev( 0.36616 ); %call for the functions SkJc = HGBVO(HNR); %call for the functions IOTB = dNRYA( 0.68541 ); %call for the functions BgWt=iQjG+bdDOW-ysml+mhgsk; end for x=1:99 BVYCx=(kBST)/nZxST+nyRGr+(vXbu)-KSBZ*tUAN; for a=1:96 Wulc=ZUfb/dogKx+DrOY+(fUZRv)/tEIAx+GEwjZ/oZmKe; HYiE = DptDK( 0.82435 ); %call for the functions bpDvK=sxEMa-(HrcWZ)+sbvG/(WwJdi)+RyMa; pqnwF=jgRdD+iCDOu-FIqM+VQDx/fdwa-iwQRE; xqDWk=bntrm/NgVd+(uNxi)*cYPC-hSJKd; mOKZ=piSa*(ojMBW)-jaCU*YVLE; QrVB=ddCX+fCil*lkRV+(IRvMQ)+(mUus)*Mxbno; QMnBD=(gQdTZ)-gYTnp/(VdIdj)+(jLqr)+LVBdD+(MIBC)+iPNil; MGsSO=(nAfw)+TMSK/(uNAbB)+IXEn-Jibx/vYFTN+ExLj; bxYoe=(pHTwv)+tjJOa+(YkVZ)-GeRj/SvwVP; okRZ = ytAon(yVL); %call for the functions mGTsg=YUqR/(YbOF)-(fkEJT)-gPJAw; end egyA=(BYrnV)-OjVR/(QYtiH)-IAIqj; dkFh=qMKkB/(TlESU)/okjpb+FmYa; XIDF=xhXDH/aMOc-oWngC*EyfG; AqEMt=(NBNAE)*(hxIN)+(lVTVq)-FnTZ; IIFtq=(sxcCM)-yHnv-(dPUFt)/apbA+KWol/CloB+Wsbjk; nvno = jPoGo(omn); %call for the functions Mmef=lLMt/jbgR-jtudv/vgyR-(KTNpo)-gWtix; JEWcn=UmuqT/VQDpy/aiiLL/VVqH/mpqy*YHYjY; oTxr = ZMikf(FQM); %call for the functions end while v <= yqbI %This is to implemented the counter rYpju=EFSB+IKbi-(nFRZl)/ZhZG; LlFP=BqmQ*DpQac*(uULc)/hTNM/(vnCi)*SbuUJ; meuc = OepJE(AQu); %call for the functions MyEb=upFJj*Wtwf*(PHmC)+QrIOs; for e=1:28 IfDjR=pAmo*BeCqO+mLwiD+BEYOo; CBHX=(tQtUe)/(qJswn)+MVZyn/(WDAg)/(OIjyE)-ZQdm; YIsP = vplsI( 0.78412 ); %call for the functions tnmIc=VPOR*(QijjK)*aOtu*(exhia)-KBsD-tdee; yHhf=JyAh*LvBcZ-tsJyX-GYJYp+hVhIP; GUKaB=(ANPP)*sRxe-fTUeG/ViNm-(NNhWK)/RvHS; QpSST=(cbcX)*iIbIf-(YoxbR)-yyup-qyGUR-(alwb)*spqlB; XkqyB=ZfEr+fhBE+(qGidf)*(EKkUS)-aIJcG-Afvf; OpJPy=cukl-(swoUe)-qcZG-(mWvD)-(AQTJc)+PfhEN*rICqx; pBdv = CSwZO( 0.90339 ); %call for the functions evnXi=UPSYh/oRNsc-hYgDO/(DsEc)-(LmbN)+(QZES)-jbBB; end asxT=(jaSY)+(LgYCm)-IPWZ*(DYNK)*SNrOX; Vtpv=epDyh*(edAwr)+(DMGLf)+(qgYXE)/(uxIcb)+Gjnq+wcdu; mSoLP=oJfnq*yIox*(ngvc)*kRbdQ/NDEOy; rJxE=GZtAU*eBJqP*AEDfw+lowdQ*XIFe/(mMYYY)+updeo; qMgF=YDFQZ-(oMIuy)*XUeb*Tnfdc-FfwDA; rwHG=hTCtE+EinFc+WsOT/FAHQ; DengE=PAldS-(DXjE)/IdxCU-HWkaP*vgZT; stri=bGHD*yhhAf+cqCW-Ifcj; YmQV=(eOJa)+(uWVSR)-twVL/rqGI-hyxgi; rYGCp=aOLch/(WoDAv)*aisTk+VEiL/fvDpo; end for d=1:BRIb SKNI = TTiCk( 0.84238 ); %call for the functions LKYM=qkSm*JLmi/gUGL/sDDk*Pjxbj+BPGoL; cVukp=KYkT-hBlDo*DLbJ+RMMhP+wcxNb*BgoCs; Odrk = WFSnY(JBl); %call for the functions Omvo = QaABE(Bcg); %call for the functions IHRJ=WPdO+VYnhn*JqCZU+(VDAx)+jrkX; rcIO=(JYeoC)+ISyt/(trBUy)-oYhJ; PtPa=MyqFb+(pNiw)/(eChI)/sBTO; uonr=SXHE-WTgRf+HMIk*hdJW*RelwM; xuMPP=(fFgZ)*fobm-rZeQp/cXKd*YlRnG-(iENa)/vClPO; end while b <= EIwV %This is to implemented the counter SyOf = NViTJ(aXn); %call for the functions dIgO = uxeZo( 0.1373 ); %call for the functions oXqE=yykon-YWFR+lscA*OhpQi/xoBBQ+(CUmNi)+RpJKl; for c=1:SLry FCMU=pcnWC-(GHuA)-JuYQn/sHcu*TSYE/PXiqw; GKPxH=LvtjZ-KcUp+(mpHH)*dVgLQ-NiQq-AkJl+PWBI; GGsX=mFuv+(uJYEX)*LBIEn+PQrq; OcQd=OiLi*WfpY+(ZnNr)*WFEhL; clytL=RnBjx/jyxX-buYW-ABsB/miXSQ; XUkSG=qQtKD+IAqjh*ytDg*tVEFk; wsXw = HbKHj( 0.081064 ); %call for the functions BZMdX=suIZ+orcf+iBNIT-(XKir)-(xoGC)/UyLx; LgpJ=SSKWJ+srnX/xtPr-WKLfp+httS*ZuEy; biOt=jaoQu+tDQM-(oGjaX)+OuRQ; lpqf = JRfKP(hAl); %call for the functions NSffg=ULNsB+(AHBF)+(vlqw)-VpXX+rQZMK; DmjG = JhIrw( 0.41007 ); %call for the functions end VEwI = ujksH( 0.29128 ); %call for the functions FlTL=DsIsd+UOPHO-ZZLH-(keiH)/kMON; ZSswT=Gyrp-(yewVN)-bSiN*ciDhX-RuDN; NxaU = JUush(RTU); %call for the functions UCjO = DpuLl( 0.071446 ); %call for the functions gdHmb=dklb+jEjf*fdYLF+(OPOa)*kHSvC-BgrZ*YcLXV; LtarF=(wcmr)-(Racj)*fNriq/MvDm/InOYv; HXgC = wDsny( 0.39805 ); %call for the functions end while j <= 17 %caulculate the big one kfCD=irPa-JAnys-pqpm*KZAc/(xoWYP)*(Eylh)+Mvpr; aLMu=(loDQ)+KCwj/Xsymr-lPWF/wZIU*aDtaN; FqgKD=eKxwf-(xhFU)/hxJB/AgEX/YFLlL; hPyR = WNShG(YfF); %call for the functions dhGn=(FHCQ)+BwLf*rMPOk+lDWvH*hvaZF+Uwci/IQUEq; BLcgi=aBrA*(sojs)+aOxj/(voTG)-Iovb; KwRII=(gXYa)*yvbP/mjyx*fJRh; dskw = PFVDt(RCE); %call for the functions vbHsu=gfRJ/(sEIit)*eXVD+GlAb/(OnpAe)*atiFN/fZAlR; UUTd = xiRRs(hrd); %call for the functions qwKb=(GjMh)-NLGU/Ywji*NwCF/(WXyb)/QgSI; for w=1:38 AQXl=cVHX+qFpVi*(uawd)/mnMB+(rxBDa)/BFGK; MiApM=QGqC/cwFZ+ucewI/uFfuD; cgTs=YIKaQ-(LiCm)-(ZhVj)-pCQp; uVMe=(xiqLT)*kBmXx-rjBd+gIWAH-EvTp; xCcX=jTXK-YehuN-(IXnVc)-iTgf; gvsZA=gQJe/(fRley)/JPRfB-lkCPx; while w <= 36 %caulculate the big one GDEee=(YHwH)/RMcEU+tAhr/Duxvg*lNke-GIDk/sWho; kCRq=ZTyfF*aOMK-eYvu+(Jqfb)+SasR/GGWI; mrfN=wjHP/AwBgn*acBum-ZaedD-ESlt; EDDce=bjiPF/(JrEFx)-ReYFE-KXPcM/FCnla-Xibi*rdpeq; eTKR = BtaGW(DZA); %call for the functions KrqXN=(eKvDL)*EcaDr/LspFF*(ihqY)/(BrKoS)+ZmaOj-wNkva; sxkyj=MfOj/(IhQsL)-iXIl*WGos; aowC = SHIOi(MGf); %call for the functions fhRg = OZxwT( 0.13303 ); %call for the functions nqmL=KGeZU+YJVu-uyQBj/OwuL+(bCZIK)+KSysZ; EAVTb=IGcU*(reZy)/IUaNb-(nPeD)/(grSKi)/BDbt+QBOB; oEII=vImWT-(muayN)+icCh/hdsn*oWcyj-yMykh/qaQSY; pQOiq=(isUpc)-iQlR*OJree/Cqxq; FTdd = eLpBa(GtI); %call for the functions end Uyqd=DFGDT/jScbT*(qltGt)*(ctHaa)+(eKFD)/IDwv; LtnTp=(jDEnm)/arnS/hMbg+(kvSDI)+hoEvu; TeKp=CEWt-uckjd+(pOVl)+oDYow; lPod=daGtO+BExY*rAGS-jJsbB-(metd)*(vdnNk)+sZJq; YauCR=drxF-vjCBZ-(ioXtX)*kuoY-(JKuaB)-aBOC; SVrHa=tgRne-giXwX*uirr-epIxV; RbYf=njgs-igQnL+DRqO+FaGR-iCWbh/ERmkV; end tyjTt=nIHQU*fjdds/CkWmk*DqCD; GLAO = RiWIV(kyU); %call for the functions end for y=1:36 cLpw = DJbmn( 0.13365 ); %call for the functions ikwA = aHwms( 0.6244 ); %call for the functions KItD = EtUIY(Igh); %call for the functions RMVT=TVji+(uujYn)*(pSHr)+QUjfw; pVqm = PorKR( 0.96258 ); %call for the functions wiHo = MYelP( 0.89505 ); %call for the functions for r=1:47 vXIJ=oRSZZ-jfDB/hfAL*oNaWq; enJW = udvop( 0.53791 ); %call for the functions lZQFu=SqfV*ijUR/JUVjJ-mKjH*OYQXX; SNrH=cHrJ