The strapdown inertial navigation system was placed on the indoor test bench for static test with a test time of 4500s. 1) take the first 180 data for rough alignment (analytical alignment method); 2) accurate alignment of 181s-900s data (Kalman filtering method); 3) pure inertial navigation solution is performed from 901s; 4) the positioning accuracy of the navigation system is evaluated by the method of position accuracy evaluation of the national military standard (the positioning accuracy under CEP50 and CEP95 are calculated respectively).

Filename	Size	Update
exp1	0	2018-07-28
exp1\coarse_align.m	751	2018-07-07
exp1\dcm2eul.m	274	2018-06-09
exp1\dcm2qua.m	241	2018-06-09
exp1\eul2dcm.m	489	2018-06-09
exp1\eul2qua.m	439	2018-06-09
exp1\initpara.m	389	2018-07-07
exp1\ins_navi.m	1402	2018-07-27
exp1\KF_correct.m	1552	2018-06-28
exp1\main.m	2629	2018-07-27
exp1\pre_data.m	584	2018-07-07
exp1\qua2dcm.m	310	2018-06-09
exp1\qua_multiply.m	225	2018-06-09

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