MATLAB Program Suite for Strapdown Inertial Navigation Solution Using Quaternion Method

This article presents a comprehensive MATLAB program suite for implementing strapdown inertial navigation solutions using the quaternion method. The package includes simulation programs for filter-based initial alignment, compass method initial alignment, strapdown inertial navigation solution, and integrated Kalman filtering, accompanied by essential parameter matrix conversion utilities. All algorithms were meticulously developed through extensive study of classical strapdown navigation literature and have passed rigorous debugging. The implementation achieves cone error and sculling error results consistent with those presented in Qin Yongyuan's "Inertial Navigation" textbook, confirming the reliability of the algorithms. The code structure features modular design with clear function separation, including quaternion normalization routines, attitude update algorithms using rotation vector integration, and coordinate transformation modules. For inertial navigation learners, this suite provides valuable reference implementations that can be used for both educational purposes and algorithm improvements.