MATLAB Implementation of Strapdown Inertial Navigation System Integrated with GPS Navigation

This article explores the MATLAB implementation of integrated navigation combining Strapdown Inertial Navigation System (SINS) and GPS. We employ adaptive filtering algorithms to enhance navigation accuracy, with detailed explanations on parameter tuning strategies for optimal performance. The implementation includes Kalman filter variants that automatically adjust covariance matrices based on real-time measurement innovations. We discuss practical application scenarios, covering interference mitigation techniques and system optimization methods for handling various environmental factors. Key MATLAB functions demonstrated include sensor data fusion routines, quaternion-based attitude calculation, and adaptive noise covariance estimation. Through this technical walkthrough, readers will gain comprehensive understanding of SINS/GPS integration principles and learn to implement and optimize these navigation systems using MATLAB's Signal Processing and Navigation Toolboxes.