MATLAB Program Suite for Strapdown Inertial Navigation Solution Using Quaternion Method
This program suite consists of MATLAB implementations for strapdown inertial navigation algorithms based on quaternion method, featuring simulation programs for filter-based initial alignment, compass method initial alignment, strapdown inertial navigation solution, and integrated Kalman filtering, along with essential parameter matrix conversion utilities. All algorithms were developed through extensive research of classical strapdown navigation literature and have been thoroughly debugged. The results demonstrate conformance with Qin Yongyuan's "Inertial Navigation" textbook for cone error and sculling error calculations, ensuring high reliability. This suite is ideal for inertial navigation learners seeking reference implementations and improvement opportunities.