PSINS工具箱函数介绍——gpsplot

介绍gpsplot函数的原理和作用

程序源码

function gpsplot(vpGPS, ts)
% GPS plot.
%
% Prototype: gpsplot(vpGPS, ts)
% Inputs: vpGPS - [vnGPS, posGPS, tag, t] or [posGPS, tag, t]
%              the tag column may not exist.
%         ts - GPS sampling interval
%          
% See also  imuplot, insplot, gpsload, gpssimu, avpfile, igsplot, gpssatplot, pos2dplot, pos2bd.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 19/02/2014
global glv
    [m,n] = size(vpGPS);
    if nargin<2, ts=1; end
    if mod(n,3)==0, vpGPS = [vpGPS,(1:length(vpGPS))'*ts]; end
    t = vpGPS(:,end);
    if t(1)>10000
        t = t+(t(2)-2*t(1));
    end
    if mod(n,3)==1  % if not exist tag, then add 1
        vpGPS=[vpGPS(:,1:end-1),ones(m,1),vpGPS(:,end)];  
    end
    idx = find(vpGPS(:,end-1)==0);
    myfigure,
    if n>=6  % if include velocity & position
        vnS = vpGPS(:,1:3)