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;