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.