### Examples 102

These are some miscellaneous INS implementation examples. If you need loosely coupled GPS/INS examples, you should first look at the examples in the smoother section.

- INS Implementation without heading initialization
- A GPS INS implementation which can be used without heading initialization. 2 states are used in a Kalman filter to represent large heading angle uncertainty.
- Redundant Sensor Demonstration
- Some INS examples hich demonstrates the use of redundant inertial sensors.
- Tightly coupled GPS INS
- A tightly coupled GPS INS system which is mechanized in ECEF. The Kalman filter only processes the pseudoranges.
- Wander Azimuth Implementation
- A non-singular INS implementation mechanized in wander azimuth frame. Furhtermore, The Kalman filter is based on PSI model.