% 注释这一段代码 % INS mechanization and time update % INS机械化和时间更新 ins=ins_mech(ins,imud); ins=ins_time_updata(ins); rtk_gi=ins2sol(rtk_gi,ins); % GNSS measurement update rtk_gi.ins=ins; if opt.ins.mode==glc.GIMODE_LC % GNSS/INS loosely couple [rtk_gi,rtk_gnss,stat_tmp]=gi_Loose(rtk_gi,rtk_gnss,obsr_,obsb_,nav); elseif opt.ins.mode==glc.GIMODE_TC % GNSS/INS tightly couple [rtk_gi,stat_tmp]=gi_Tight(rtk_gi,obsr_,obsb_,nav); end ins=rtk_gi.ins; if stat_tmp==0 [week,sow]=time2gpst(obsr_(1).time); fprintf('Warning:GPS week = %d sow = %.3f,GNSS unavailable!\n',week,sow); end

% INS机械化和时间更新
ins=ins_mech(ins,imud);
ins=ins_time_updata(ins);

% RTK解算更新
rtk_gi=ins2sol(rtk_gi,ins);

% GNSS测量更新
rtk_gi.ins=ins;
if opt.ins.mode==glc.GIMODE_LC
% GNSS/INS松耦合
[rtk_gi,rtk_gnss,stat_tmp]=gi_Loose(rtk_gi,rtk_gnss,obsr_,obsb_,nav);
elseif opt.ins.mode==glc.GIMODE_TC
% GNSS/INS紧耦合
[rtk_gi,stat_tmp]=gi_Tight(rtk_gi,obsr_,obsb_,nav);
end

% 更新INS状态
ins=rtk_gi.ins;

% 如果GNSS不可用则输出警告
if stat_tmp==0
[week,sow]=time2gpst(obsr_(1).time);
fprintf('Warning:GPS week = %d sow = %.3f,GNSS unavailable!\n',week,sow);
end