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INS Library

The MSS Inertial Navigation System (INS) library contains editable simulation examples and supporting functions for aided inertial navigation and attitude estimation. The implementations use high-rate inertial measurement unit (IMU) data with lower-rate aiding measurements and are compatible with MATLAB and GNU Octave.

Simulation Examples

File Description
SIMaidedINSeuler.m Compares Euler-angle error-state Kalman filter (ESKF) architectures using compass, position, optional velocity, or external attitude and heading reference system (AHRS) aiding.
SIMaidedINSquat.m Quaternion-based aided INS using a multiplicative error-state Kalman filter with position, optional velocity, and magnetometer or compass aiding.
SIMaidedINSheave.m Pressure-aided ESKF for estimating heave position, vertical velocity, and accelerometer bias.
SIMquatMEKF.m Multiplicative extended Kalman filter (MEKF) example for quaternion attitude and angular-rate sensor bias estimation.
SIMquatObserver.m Nonlinear quaternion attitude observer with angular-rate sensor bias estimation.

The simulation parameters, sensor frequencies, noise levels, aiding options, and test-signal selections can be edited near the beginning of each simulation file.

Supporting Functions

The functions directory contains:

  • acc2rollpitch.m: Static roll and pitch from accelerometer measurements, with optional bias compensation.
  • ins_euler.m: 15-state compass- and position-aided INS ESKF using Euler angles.
  • ins_ahrs.m: 9-state position-aided INS ESKF using attitude supplied by an external AHRS.
  • ins_mekf.m: Quaternion-based INS ESKF aided by magnetometer and position measurements.
  • ins_mekf_psi.m: Quaternion-based INS ESKF aided by compass and position measurements.
  • ins_heave.m: Pressure-aided heave ESKF.
  • quatMEKF.m: Quaternion MEKF for attitude and sensor-bias estimation.
  • quatObserver.m: Nonlinear quaternion attitude observer.
  • insSignal.m: Repeatable INS and IMU test-signal generator.
  • staticRollPitchYaw.m: Static roll, pitch, and magnetic heading from accelerometer and magnetometer measurements.
  • gravity.m: WGS-84 gravity model as a function of latitude.
  • magneticField.m: Demonstration magnetic-field reference vectors and locations.

Getting Started

Add MSS and its subfolders to the search path. In MATLAB, run the following command from the MSS root directory:

mssPath

For GNU Octave, follow the GNU Octave installation guide.

Then run one of the simulation examples, for example:

SIMaidedINSquat

Reference

T. I. Fossen (2027). Handbook of Marine Craft Hydrodynamics and Motion Control, 3rd Edition, Wiley (in progress).