Error Analysis of Inertial Navigation Systems (Gyroscopes and Accelerometers) with MATLAB Implementation

In this document, we provide a comprehensive guide on how to perform error analysis for inertial navigation systems using MATLAB. We begin by introducing inertial navigation systems, their core components (gyroscopes and accelerometers), and their respective functions in navigation applications. The document progressively explores various error sources, including detailed analysis of gyroscope bias, scale factor errors, random noise, and accelerometer misalignment and drift errors. Practical MATLAB implementation demonstrations will showcase how to model these errors using functions like kalmanFilter for sensor fusion and imuSensor for realistic data simulation. We will discuss code implementation strategies for error quantification, including Monte Carlo simulations using randn function for stochastic error modeling and covariance analysis through cov function. The document also covers calibration procedures using optimization tools like fmincon to minimize systematic errors. Through this guide, you will gain in-depth understanding of MATLAB-based error analysis techniques for inertial navigation systems, enabling you to develop more accurate navigation algorithms and performance evaluation metrics.