# Precise Strapdown Inertial Navigation System (PSINS) Toolbox for MATLAB
## 1. Preface
Precise Strapdown Inertial Navigation System (PSINS) toolbox for MATLAB is an open source program package, primarily developed for inertial-grade or higher grade inertial navigation system simulation and data processing. PSINS toolbox includes strapdown inertial sensor (gyro & accelerometer) sampling simulation, initial self-alignment simulation, pure SINS navigation algorithm simulation, SINS/DR & SINS/GPS integrated navigation simulation and many other useful routes, which are all implemented by a bunch of powerful library functions. The PSINS library functions are well modularized and organized, then they are easy to understand and master. Surely, PSINS toolbox has the capability to processing real SIMU and GPS sampling data with a little or even no modification. On the basis of this PSINS toolbox, users can quickly and conveniently set up an inertial navigation solution to achieve their specific purpose.
## 2. License
The PSINS toolbox is distributed under the BSD 2-clause license
(see http://opensource.org/licenses/BSD-2-Clause). Users are permitted to download, copy, modify and redistribute this toolbox freely as long as they comply with the following license.
Copyright (c) 2009-2015, Gongmin Yan, All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
## 3. System Requirements
When developing this toolbox, the author’s PC setting is:
Microsoft Windows 7 (SP1) + MATLAB 8.2.0 (R2013b) + CPU 2.1GHz + RAM 2.0GB.
## 4. Quick Start
1. Copy the PSINS toolbox root folder `psins\`, including all subfolders and files, to your computer.
2. Run `psins\psinsinit.m` to initialize PSINS environment.
3. Run `psins\demos\test_SINS_trj.m` to generate a moving trajectory.
4. Run `psins\demos\test_SINS_GPS.m` to demonstrate SINS/GPS integrated navigation.
5. There are many demo examples in `psins\demos`, such as coning & sculling motion demonstration, initial alignment, pure inertial navigation and POS data fusion, etc.
6. Try to do some modification and put your exercise file under `psins\mytest`. Enjoy yourself and may you find something helpful!
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MATLAB的精密捷联惯性导航系统(PSINS)工具箱.zip
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1.版本:matlab2014/2019a/2021a 2.附赠案例数据可直接运行matlab程序。 3.代码特点:参数化编程、参数可方便更改、代码编程思路清晰、注释明细。 4.适用对象:计算机,电子信息工程、数学等专业的大学生课程设计、期末大作业和毕业设计。
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MATLAB的精密捷联惯性导航系统(PSINS)工具箱.zip (960个子文件)
cubb1870.15c 157KB
cubb1870.15g 146KB
cubb1870.15n 120KB
abpo0080.15n 99KB
01.15n 38KB
abpo0080.15o 2.91MB
01.15o 1.49MB
psinslog.txt.bak 849B
ins.bin 30KB
matcfg.bin 11KB
res.bin 2KB
psinscfg.cfg 178B
PSINS.cpp 213KB
SerialPort.cpp 39KB
PSINS_Demo.cpp 17KB
Main_SinsGps.cpp 859B
KFApp.cpp 802B
readme.doc 788KB
PSINS工具箱函数索引.doc 498KB
PSINS工具箱中传递对准仿真的模型说明.doc 63KB
许可协议.docx 713KB
系统级标定转台转动方案.docx 591KB
PSINS C++ readme.docx 410KB
许可协议模板.docx 14KB
PSINS.dsp 5KB
PSINS.dsw 487B
tbinsevaldlg.fig 23KB
seawavedlg.fig 19KB
imudlg.fig 17KB
psinsguide.fig 12KB
srevaldlg.fig 11KB
phiU2vpdlg.fig 8KB
IE_Remote.gpb 9KB
PSINS.h 63KB
SerialPort.h 12KB
PSINS_Demo.h 8KB
KFApp.h 960B
lasergyro.imu 2.54MB
seawavedlg.m 27KB
srevaldlg.m 16KB
imudlg.m 14KB
avpcmpplot.m 14KB
test_nonlinear_Gauss_KF_vertically_falling_body.m 13KB
kfgencpp.m 13KB
tbinsevaldlg.m 13KB
igkfplot.m 9KB
sysclbt.m 8KB
imuplot.m 8KB
insplot.m 7KB
phiU2vpdlg.m 7KB
inserrplot.m 7KB
sinsgps.m 7KB
POSplot.m 7KB
xpplot.m 7KB
POSProcessing.m 6KB
psinsguide.m 6KB
kfplot.m 6KB
trjsegment.m 5KB
bendingH.m 5KB
aligni0fitp1.m 5KB
alignvn_kfs.m 5KB
cgfrmvp.m 5KB
bending.m 5KB
avarfit.m 5KB
imufile.m 5KB
kfinit.m 5KB
imuerrset.m 5KB
wordrpt.m 5KB
aligni0fit1.m 5KB
labeldef.m 5KB
test_CVDM_adaptive_KF.m 5KB
aligni0noL.m 5KB
inspure.m 5KB
aligni0fit4.m 4KB
aligni0fitp.m 4KB
kfupdate.m 4KB
rnx210o.m 4KB
glvf.m 4KB
aligni0fitv.m 4KB
test_federated_KF_simple_example3.m 4KB
test_align_transfer_fkf_def.m 4KB
msmu.m 4KB
bending1.m 4KB
imu2imr.m 4KB
test_SINS_GPS_CNS_FKF_219.m 4KB
alignvn_stekf0.m 4KB
tbinseval.m 4KB
alignvn.m 4KB
alignvn_stekf.m 4KB
imulvest.m 4KB
trjsimu.m 4KB
aligni0EVD.m 4KB
test_align_transfer_fkf.m 4KB
satPosVel.m 4KB
sinsgps34.m 4KB
PSINS_Demo_figure.m 4KB
alignsbtp.m 4KB
clbtfile.m 4KB
imuadderr.m 4KB
etmST.m 4KB
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