INS Implementations
This sections contains ins implementations mechanized in different frames with different attitude represenations. Furthermore, system models representing the propagation of errors on the corresponding INS mechanizations are also presentented.
correctnav_Cen_v000.m  Corrects the navigation states (i.e. position, velocity and attitude) using the Kalman generated error values. This function can be used for both PHI and PSI formulated Kalman filters. 
geoparam_v000.m  Re, Rn, G etc. for NED mechanization. 
geoparam_v001.m  Computes the curvature matrix (Elipsoidal radious of Earth) and the gravity. This is a nonsingular implementation which must be used for polar navigation. 
la_imu_v000.m  lever arm computations INS+IMU 
la_sen_v000.m  Lever arm computations for sensor outputs only (subset of la_imu) 
mdl_ecef_dcm_v000.m  Wrapper for the sys_ecef_dcm (TO BE DEPRECIATED) (See:imu_err_defs) 
mdl_ned_dcm_v000.m  Wrapper for the sys_ned_dcm (this is called by the KF, this implicity calls sys_ned_dcm) (TO BE DEPRECIATED) (See:imu_err_defs) 
strapdown_bckwrd_Cen_quat_v000.m  Backward implementation of strapdown_Cen_quat (used in 2filter smoothers) 
strapdown_bd_dcm_v000.m  Body frame mechanization of strapdown equations with DCM 
strapdown_Cen_dcm_v000.m  WanderAzimuth implementation with position defined as Cen (singular) 
strapdown_Cen_quat_v000.m  WanderAzimuth implementation with position defined as Cen and attitude mechanized as quaternion 
strapdown_ecef_dcm_v000.m  ECEF frame mechanization of strapdown equations with DCM 
strapdown_ecef_quat_v000.m  ECEF frame mechanization of strapdown equations with quaternions 
strapdown_ned_dcm_v000.m  NED frame mechanization of strapdown equations with DCM 
strapdown_ned_quat_v000.m  NED frame mechanization of strapdown equations with quaternions 
strapdown_pln_dcm_v000.m  Navigation in Planar Nonrotating Earth 
strapdown_wander_dcm_v000.m  WanderAzimuth implementation (Singular) 
strapdown_wander_quat_v000.m  WanderAzimuth implementation with quaternions (NonSingular) 
sys_bd_dcm_v000.m  error propagation model for strapdown_bd_dcm 
sys_ecef_dcm_v000.m  error propagation model for sys_ecef_dcm_v000 
sys_llh_phipsi_v000.m  System model for geodetic navigation frame mechanization for both phi and psi parametrization. This model can be used for both DCM and quaternion mechanizations. (e.g. strapdown_ned_quat_v000, strapdown_ned_dcm_v000). Position errors are modelled as delta_llh.

sys_metric_phipsi_v000.m  System model for geodetic navigation frame mechanization for both phi and psi parametrization. This model can be used for both DCM and quaternion mechanizations. (e.g. strapdown_Cen_dcm_v000, strapdown_Cen_quat_v000, strapdown_ned_dcm_v000). Position errors are modelled as delta_x (metric). 
sys_ned_dcm_v000.m  error propagation model for strapdown_ned_dcm 
sys_ned_dcm_v001.m  Similar to sys_ned_dcm_v000. However, this is modified for imu_err_defs usage. 
sys_pln_dcm_v000.m  error propagation model for strapdown_pln_dcm 
sys_wander_dcm_v000.m  System model for wander azimuth implementation (for strapdown_wander_dcm) 
sys_wander_largeheading_v000.m  System model for large heading uncertainties (for strapdown_wander_dcm) 
sys_wander_psi_v000.m  System model for wander azimuth implementation (for strapdown_wander_quat and strapdown_Cen_dcm) 