Simulation Development for Strapdown Inertial Navigation Systems

We have developed a comprehensive simulation tool for strapdown inertial navigation systems based on the MATLAB platform. This simulation tool not only assists researchers in better understanding the principles and applications of strapdown inertial navigation but also serves as an effective reference tool for engineers and scientists in related fields. The implementation includes key algorithms such as attitude updating using direction cosine matrices or quaternions, navigation frame transformations, and sensor error modeling. During development, we considered various factors including inertial navigation system design principles, sensor characteristics featuring gyroscope and accelerometer models, and optimization methods through Kalman filtering techniques. Our codebase contains multiple functional modules organized in a structured manner, including sensor data simulation, inertial measurement unit (IMU) error modeling, and navigation solution computation. The architecture supports customization and extension according to user requirements, with configurable parameters for different simulation scenarios. Key functions include real-time trajectory simulation, error analysis tools, and performance evaluation metrics. In summary, our simulation tool provides a robust framework for understanding and applying strapdown inertial navigation technology, with well-documented code that demonstrates practical implementation approaches.