中文说明：
基于伪距和伪距率的GPS/INS紧组合卡尔曼滤波器算法，有案例数据，可直接运行。
English Description：
GPS / INS tight combination Kalman filter algorithm based on pseudo range and pseudo range rate has case data and can be run directly
GPS / INS tight combination Kalman filter algorithm based on pseudo range and pseudo range rate
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中文说明：
基于伪距和伪距率的GPS/INS紧组合卡尔曼滤波器算法，有案例数据，可直接运行。
English Description：
GPS / INS tight combination Kalman filter algorithm based on pseudo range and pseudo range rate has case data and can be run directly
annoutput_east.log
attitude_compute.m
deepobserve.m
deepsim.asv
deepsim.m
fposition.mat
fvectry.mat
inslon.mat
INS_ANN.log
INS_err.log
joinnoise.m
loosesim.asv
loosesim.m
plantep.m
poseangle.mat
position.mat
position_compute.m
pwadata.mat
quae.m
quaxyz.m
qua_Tnb.m
qua_update.m
skew_symmetric.m
state_matrix.m
Tbn_quat.m
Tnb.m
track.m
vectry.mat
vn_update.m
wenn_compute.m
好紧组合的仿真程序