GNSS_INS

基于phi角误差模型实现的GNSS_INS松组合算法，卡尔曼状态向量为21维度。GNSS和INS的位置差值作为观测信息。

Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
GINS.py		GINS.py
GNSS_INS_FUNCTION.py		GNSS_INS_FUNCTION.py
INS_MECH_CLASS.py		INS_MECH_CLASS.py
INS_MECH_FUNCTION.py		INS_MECH_FUNCTION.py
Main.py		Main.py
README.md		README.md

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