www.gusucode.com > 惯性导航系统仿真程序 SIMULINK环境-SIMULINK源码程序 > code/Add_Err.m
function Data = Add_Err(SINS) global ba Sa dCba da Na global bg Sg dCbg Ng global I t t = t + 0.01; Acc = SINS([1:3]); Gyro = SINS([4:6]); Acc1 = ba + (I + Sa + dCba)*Acc + normrnd(0,Na); Gyro1 = bg + (I + Sg + dCbg)*Gyro + normrnd(0,Ng); Data(1) = t; Data(2:4) = Acc1; Data(5:7) = Gyro1;