Basic principles of the strapdown inertial navigation system (SINS) using the outputs of strapdown gyros and accelerometers are\r\nexplained, and the main equations are described. A mathematical model of SINS is established, and its Matlab implementation\r\nis developed. The theory is illustrated by six examples which are static status, straight line movement, circle movement, s-shape\r\nmovement, and two sets of real static data.
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