Mobile Multi-Sensor Systems Research Team
The aided inertial navigation system (AINS) Toolbox is a set of libraries written for MatLabsoftware, a standard scientific computing environment, each of which can be called separately. It also provides estimation tools to optimally combine the data files from an inertial measurement unit (IMU) together with information from other aiding sensors, such as the global positioning system (GPS), odometers, heading, and non-holonomic constraints.
The toolbox supports various attitude parameterizations including the direction cosine matrix (DCM), Euler angles, rotation vector, and quaternion. Transformations between these parameterizations are also implemented as shown in Figure 1.
The toolbox uses state-of-the-art strapdown integration algorithms and estimation techniques. The INS mechanization applies second-order coning and sculling corrections. Many options exist for the initial alignment. For tactical or navigation grade IMUs, the analytical coarse alignment and fine alignment techniques are implemented. In-motion alignment uses GPS-derived velocities for pitch and heading initialization. Leveling with user-given heading information can be used for the alignment of low-cost IMUs. The following estimation techniques are implemented in the toolbox:
The toolbox uses state-of-the-art strapdown integration algorithms and estimation techniques. Each of the functions has modular structure, and therefore it can be used separately. The followings briefly describe the functions of the toolbox:
For more information, please contact Dr. Naser El-Sheimy.
Phone: (403) 220-7587
Fax: (403) 284-1980