function yy=ukf_IMUgps()
%function ukf_IMUgps()
% UKF在IMU/GPS组合导航系统中应用
%
% 以IMU中的位置、速度、姿态误差角、陀螺漂移常值为状态量；
% 以GPS中的位置、速度为观测量。
%
% 7,July 2008.
clc
% Initialise state
global we RN RM g fl
deta wg Tt wt d ww v u W Rbl Ta wa
d=0; %验证循环次数
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SHOW FULL COLUMNS FROM `jrk_downrecords` [ RunTime:0.001035s ]
SELECT `a`.`aid`,`a`.`title`,`a`.`create_time`,`m`.`username` FROM `jrk_downrecords` `a` INNER JOIN `jrk_member` `m` ON `a`.`uid`=`m`.`id` WHERE `a`.`status` = 1 GROUP BY `a`.`aid` ORDER BY `a`.`create_time` DESC LIMIT 10 [ RunTime:0.106820s ]
SHOW FULL COLUMNS FROM `jrk_tagrecords` [ RunTime:0.001538s ]
SELECT * FROM `jrk_tagrecords` WHERE `status` = 1 ORDER BY `num` DESC LIMIT 20 [ RunTime:0.002077s ]
SHOW FULL COLUMNS FROM `jrk_member` [ RunTime:0.001183s ]
SELECT `id`,`username`,`userhead`,`usertime` FROM `jrk_member` WHERE `status` = 1 ORDER BY `usertime` DESC LIMIT 10 [ RunTime:0.003372s ]
SHOW FULL COLUMNS FROM `jrk_searchrecords` [ RunTime:0.000912s ]
SELECT * FROM `jrk_searchrecords` WHERE `status` = 1 ORDER BY `num` DESC LIMIT 5 [ RunTime:0.004007s ]
SELECT aid,title,count(aid) as c FROM `jrk_downrecords` GROUP BY `aid` ORDER BY `c` DESC LIMIT 10 [ RunTime:0.014127s ]
SHOW FULL COLUMNS FROM `jrk_articles` [ RunTime:0.000963s ]
UPDATE `jrk_articles` SET `hits` = 2 WHERE `id` = 25917 [ RunTime:0.015375s ]
