GPS/INS Position Integration Output Correction Matlab Simulation Code

GPS/INS Position Integration Output Correction Matlab Simulation In modern aviation, the integration of GPS and INS technologies has become the primary method for aircraft navigation and positioning. To effectively utilize this technology, proper calibration is essential. This paper provides a Matlab simulation solution for GPS/INS position integration output correction, consisting of three main files: s_GPS_INS_position_sp_demo.m serves as the main integration file implementing the correction control flow, kalman_GPS_INS_position_sp_NFb.m contains the Kalman filter algorithm with state prediction and measurement update functions for optimal estimation, and ode500.mat provides the aircraft flight trajectory data and INS output data including position, velocity, and sensor measurements. Place these three files in the same directory and execute the main file to obtain calibrated output results. The main file implements a comprehensive simulation workflow that initializes parameters, loads trajectory data, processes sensor measurements through the Kalman filter, and generates performance metrics. This simulation framework is suitable for beginners learning integrated navigation systems and can serve as a foundation for further research. Additionally, simulation results are provided. It's important to note that the simulation results use data files with 3-hour duration, while the accompanying data file only contains 500 seconds of data. For longer data requirements, users can modify the data processing section in the main file to accommodate extended datasets by adjusting the time parameters and data loading functions. Reference: Wang Huinan, "GPS Navigation Principles and Applications".