捷联惯导仿真matlab

%%  b系——机体坐标系；    %%    
%%  p系——平台坐标系；    %%
%%  n系——导航坐标系；    %% 
%%  i系——地心惯性坐标系；%%
%%  t系——地理坐标系；    %%
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%% philamada 计算值，对应平台坐标系，p系        %%
%% latilongi 理论真实值，对应导航坐标系，n系    %%
%%  注意lati、longi与phi、lamda之间相差失准角    %%
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%%  如何记录地球自转角速度在坐标系中投影                                             %%
%%  1.地球自转角速度在导航坐标系投影wien记当地经度、纬度分别为longi、lati.            %%
%%                                   则wien =[ 0 wie*cos（lati） wie*sin（lati）]‘;   %% 
%%  2.地球自转角速度在平台坐标系投影wiep记当地经度、纬度分别为lamda、phi.             %%
%%                                   则wiep =[ 0 wie*cos（phi） wie*sin（phi）]‘;     %%
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