惯性导航初始对准包括间接粗对准和卡尔曼滤波精对准,其中aligni0
为粗对准,attrvs
为反向姿态更新,aligni0vn
为基于卡尔曼滤波的精对准,其中alignvn
为主要函数
/*------------------------------------------------------------------------------
* align : RTKLC initial align functions
* Including SINS initial align based on inertial frame method
* and SINS initial align based on inertial-frame & vn-meas method function
*
* Copyright (C) 2022-2023 by xxx, All rights reserved.
* version : 1.0
* history : 2022/12/05 1.0 align ver.1.0.0
-----------------------------------------------------------------------------*/
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