High-Precision Strapdown Inertial Navigation System Matlab Toolbox

In this resource description, we introduce the main functions of the toolbox, which include the following aspects: 1) Various subroutines for attitude vectors, quaternions, matrices, and filtering algorithms. These functions facilitate data processing and analysis through implemented mathematical transformations and signal processing techniques, typically using MATLAB's matrix operations and custom filtering functions. 2) Coning motion simulation, sculling motion simulation, and inertial device random error simulation. These simulations model specific motion patterns and error characteristics using numerical integration methods and stochastic process modeling to help users understand different motion states and error scenarios. 3) Kalman filter initial alignment, inertial frame-based initial alignment, compass method initial alignment, large azimuth misalignment angle EKF initial alignment, large misalignment angle UKF initial alignment, and velocity + attitude transfer alignment. These alignment algorithms implement state estimation techniques through recursive filtering approaches, handling both linear and nonlinear systems using appropriate covariance propagation and measurement update routines. 4) Pure inertial navigation SINS simulation, dead reckoning, SINS/DR simulation, SINS/GPS integrated simulation, GPS/BD/GLONASS single-point pseudorange positioning, SINS/GPS loosely/tightly coupled integration, and POS forward/reverse data processing and information fusion simulation. These navigation functions employ sensor fusion algorithms that combine inertial measurements with external aids using optimal estimation methods, typically implemented through time-update and measurement-update cycles with customizable integration weights. 5) Additionally, we provide C++ basic class libraries to support better programming and development, featuring object-oriented design patterns for navigation algorithm implementation with cross-platform compatibility. We hope this resource description proves helpful. If you have any questions or suggestions regarding the toolbox, please feel free to contact us. Thank you!