INS Initialization & Self Calibration

Proper initialization of attitude states is in fact the toughest problem in any INS design task. Most people simply assume that the INS can be started with some arbitrary external attitude information. However such an over-approximation may cause serious complications.

The following scprits demonstrates a couple of ways to determine the initial orientation based on inertial sensors. Self-calibration examples further demonstrates the use of redundant sensors and ZUPTs to estimate sensor errors during stationary instants

align_opt_v000.m Algebraic and SVD based attitude solution from vectors
align_wander_v000.m Platform leveling using a rotation vector
alingc_2s_v000.m 2 step IMU Coarse Align Method (first platform, then heading)
alingc_hd_v000.m Coarse Align: Heading
alingc_pl_v000.m Coarse Align: Platform
alingc_std_v001.m Standard Coarse Align Procedure
example_align.m Usage Examples for coarse align methods
example_selfcalib.m Usage example for self calibration
selfcalib1_v001.m Stationarity based self calibration using Kalman filter
selfcalib2_v000.m Multi source based self calibration using Kalman filter
sys_def.m system definitions for above examples.