INS Toolbox3

INS Toolbox 3.
0
for MATLAB7
by GPSoft 7
$ F-16 6DOF flight profile/trajectory generator now with feedback control!
$ Land vehicle trajectory generator
$ Conversion between trajectories in local-level frames and earth frames
$ Raw measurement generators (delta-V and delta-theta)
$ Error source emulator (gyro and accel biases, scale factors and noise; initial position,
velocity and tilt errors)
$ Direction cosine matrix and quaternion attitude updating
$ Great circle path generator and display
$ Four built-in wander azimuth mechanizations (North-pointing, free azimuth, Foucault,
unipolar)
$ Coordinate system conversions (ECEF, ENU, earth-frame, body-frame, nav-frame,
local-level-frame)
$ Ellipsoidal, rotating Earth effects included
$ Fully compatible with SatNav Toolbox
$ 210 page user manual
$ Over two dozen example programs included
$ $2295 (available from Navtech)
For more information: www.gpsoftnav.com
8Copyright 1996-2007 by GPSoft 7

Can your trajectory generator
handle this?
(U.S. Air Force photo/Senior Master Sgt. Robert Sabonis)
The new INS Toolbox by

GPSoft7 can!
Position Velocity Attitude

F-16 6DOF with Feedback Control in GPSoft’s INS Toolbox 3.0 for MATLAB7
INS Toolbox v2.0
Inertial Navigation Systems Toolbox for MATLAB by GPSoft
Version 2.0 This version extends the capabilities of the original toolbox with a number of key features.
Among these are a non-linear 6DOF flight profile/trajectory generator, a land vehicle trajectory generator,
an improved delta-theta measurement emulator and Functions that allow the user to define a dynamic
trajectory in a local-level coordinate frame and then perform a full INS simulation in the rotating earth
frame.
Expanding on the highly successful SatNav Toolbox, the INS Toolbox has been designed specifically with
simulation and analysis in mind. Raw measurements (delta-V's and delta theta's are generated and typical
error sources (gyro and accelerometer biases, scale factor errors, noise and initialization errors) are
emulated. The Toolbox is fully compatible with the SatNav Toolbox to allow for integrated system analysis
and simulation.
Over 30 example programs are provided to illustrate the use of the functions. All routines are provided as
M-files thus allowing the user full access to the code and the ability to modify to suit one’s needs. Full
documentation is provided through an extensive user manual as well as through the MATLAB® HELP
command. The INS Toolbox is easy to use (ideal for educational purposes, yet powerful for the seasoned
GNSS engineer). In addition to the product itself, GPSoft provides technical support for all registered
users. INS Toolbox is compatible with MATLAB v6.x and v7.x
Features
New:
Non-linear 6DOF flight profile generator (position, velocity, acceleration, attitude, time) emulates
three-dimentional trajectories: straight-and-level, climbs, descents, and turns; multiple -rate sampling
supported
Land vehicle trajectory generator
Conversion utilities to translate dynamic vehicle profiles from local-level coordinates to rotating earth
referenced coordinates for full INS simulation.
Improved Delta-Theta measurement emulator
Improved:
Great circle path generator
Raw measurement emulation (delta-V's and delta-theta's)
Measurement error emulation (gyro and accel biases, scale factor errors, noise, initialization errors)
Attitude updating via direction cosines and quaternions
Conversion routines between Euler angles, direction cosines and quaternions
Arbitrary choice of system mechanization (north-pointing, wander azimuth, etc.)
Position and velocity updating algorithms
System Requirements:
2 GHz Pentium or higher and Matlab 6.1 or higher

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INS Toolbox 3.

For more information: www.gpsoftnav.com

8Copyright 1996-2007 by GPSoft 7

(U.S. Air Force photo/Senior Master Sgt. Robert Sabonis)

The new INS Toolbox by

Position Velocity Attitude

Land vehicle trajectory generator

Improved Delta-Theta measurement emulator

Raw measurement emulation (delta-V's and delta-theta's)

Attitude updating via direction cosines and quaternions

Conversion routines between Euler angles, direction cosines and quaternions

Arbitrary choice of system mechanization (north-pointing, wander azimuth, etc.)

Position and velocity updating algorithms

2 GHz Pentium or higher and Matlab 6.1 or higher

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