PSINS中的AVP

PSINS工具箱里面的trj.avp、trj.avp0等中的avp指的是姿态（attitude）、速度（velocity）和位置（position），最后加一个时间戳t：
avp=[att; vn; pos; t]。

姿态

姿态的构成为：俯仰角pitch+横滚角roll+偏航角yaw。单位为弧度

速度

速度的构成为：东向速度+北向速度+天向速度。单位为m/s

位置

位置的构成为：纬度+经度+高度。其中纬度和经度的单位均为度，高度的单位为m

附：工具箱自带的解释

function avp = avpset(att, vn, pos, isdeg)
% avp=[attitude; velocity; position] setting.
%
% Prototype: avp = avpset(att, vn, pos)
% Inputs: att - attitude in deg
%        vn - velocity in m/s
%        pos - postion=[lat;lon;height] with lat and lon in deg,
%              while heigth in m. see posset.
%        isdeg - unit deg flag
% Output: avp=[attitude; velocity; position]
% 
% See also  posset, avpchk, avperrset, avpadderr, insupdate.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 08/03/2014, 22/01/2021

function avperr = avperrset(phi, dvn, dpos)
% avp errors setting.
%
% Prototype: avperr = avperrset(phi, dvn, dpos)
% Inputs: phi - platform misalignment angles. all in arcmin
%         dvn - velocity errors in m/s
%         dpos - position errors dpos=[dlat;dlon;dhgt], all in m
% Output: avperr = [phi; dvn; dpos]
% 
% See also  poserrset, vperrset, avpadderr, imuerrset, avpset, insupdate, avperrstd.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 08/03/2014
global glv
    avperr = [rep3(phi)*glv.min; vperrset(dvn,dpos)];