├── ESKF_6states ├── ESKF_6states_formual.m ├── ESKF_6states_misAng.m ├── ESKF_6states_rotError.m ├── calcHrotErr.m ├── calcHrotang.m └── calcPHI.m ├── QKF_7states ├── QuatEKF_7states.m ├── QuatEKF_7states_formual.m ├── calcH.m └── calcPHI.m ├── README.md ├── base ├── Initalign.m ├── Mahony.m ├── MahonyUpdate.m ├── QuatDivide.m ├── ang2matrix.m ├── ang2quat.m ├── att2cbn.m ├── att2quat.m ├── cbn2att.m ├── cbn2quat.m ├── discrete_process_noise.m ├── earthrad.m ├── earthrate.m ├── glocal.m ├── magb2yaw.m ├── navrate.m ├── plot_ekf_result.m ├── quat2att.m ├── quat2cbn.m ├── quatmul.m ├── quatmulsyms.m ├── skew.m ├── wgs_84_parameters.m ├── wgslla2xyz.m ├── wgsxyz2enu.m ├── wgsxyz2lla.m ├── wgsxyz2ned.m └── yawdelt.m └── data ├── NAV.mat ├── NAV_1.mat ├── NAV_2.mat ├── read me.txt ├── sensor.mat ├── sensor1.mat ├── sensor2.mat └── set_imu_data.m /ESKF_6states/ESKF_6states_formual.m: -------------------------------------------------------------------------------- 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