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This article presents a programmatic approach to implementing strapdown inertial navigation systems, detailing the step-by-step navigation process and demonstrating how to output vehicle navigation data to evaluate system performance. The implementation covers data acquisition, sensor fusion algorithms, and navigation parameter computation techniques.
Resource Description Toolbox Main Functions: 1) Subroutines for attitude vectors, quaternions, matrices, filtering algorithms, etc. 2) Coning motion simulation, sculling motion simulation, inertial device random error simulation 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, velocity + attitude transfer alignment 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, POS forward/reverse data processing and information fusion simulation 5) C++ basic class library
Implementation of EKF for initial alignment in strapdown inertial navigation systems? How to perform initial alignment under large azimuth misalignment angles using EKF-based algorithms