### Common (Auxilary) functions

Auxilary functions which are used in different scripts.

cp_SSgain_v000.m | Computes a steady state gain for unobservable and uncontrollable navigation error models |

dc2dc_v000.m | Given a discrete/continuous time DSR, converts it to continuous/discrete time DSR |

diagmat_v000.m | Adds sub-matrices diagonally |

downsample_v000.m | Downsamples the (imu) data by averaging it. (Imu data must not simply decimated to reduce data rate) |

imu_err_defs_v000.m | Previously, I was using mdl_xxx functions to be able to seperate IMU error models from navigation models. I no longer follow that approach. Instead, I am going to put all error models in a single file and use it like a header file inside sys_xxx functions. Therefore, the new sys_xxx functions becomes dependent on the imu error model definitions which makes them unmodular. However, I found this approach much simpler for the users of the toolkit. |

imu_err_model_v000.m | A script which converts imu_models into a standard model that can be directly used by sys_model scripts. Similar to imu_err_defs this is also model dependent. Whenever you add a new model to imu_err_defs, you must also add a corresponding cenversion routine in this script. |

interp_imu_v001.m | Interpolate and syncronize the raw data (especially required for PDAs) |

lsmat_v001.m | least squares (or ML for gaussian) solutions for linear models |

markov1st_v000.m | discrete to/from continuous conversion for AR(1) models |

mat2vec_v000.m | Symmetric matrix to/from vector conversion for covariance matrices. Especially used to save intermediate variables in smoothers. |

posdiff_v000.m | Computes the metric position difference given 2 geodetic coordinates (i.e. latitude, longtitude, height) or \(C_e^n\) matrix. |

readbin_v001.m | Read binary files |

skew.m | Given a vector, transforms it to a skew symmetric matrix |

ss2corr_v000.m | Computes the correlation (matrix) sequence given a stable ss (A,B,C,D) model |

unskew.m | Given skew symmetric matrix, transforms it to a vector |