Modified Strapdown Inertial Navigation System Fine Alignment Kalman Filter Simulation

This program is developed in MATLAB and serves as a modified version of a Kalman filter simulation for the fine alignment stage of strapdown inertial navigation systems. The modification specifically resolves filter divergence problems caused by excessively large condition numbers in coefficient matrices, ensuring stable program operation and result accuracy. Key algorithmic improvements include: - Implementation of numerical stabilization techniques to handle ill-conditioned matrices - Enhanced matrix conditioning methods to prevent computational instabilities - Optimized Kalman filter gain calculations with improved numerical precision The revised code features comprehensive commenting and detailed explanations to facilitate better understanding of the implementation approach and system functionality. Additional capabilities have been integrated, including: - Data logging functionality for recording navigation parameters and filter states - Visualization tools for tracking alignment convergence and error analysis - Modular code structure allowing for easy parameter adjustments and system extensions These enhancements significantly improve the program's practicality and functionality for research and development purposes. We anticipate this modified simulation will benefit users and developers working with strapdown inertial navigation systems, providing a more robust and accessible platform for fine alignment algorithm testing and validation.