Matlab/Simulink software implementation and interfacing of a strap-down inertial attitude method

The paper presents a software tool used to calculate the angular attitude of a vehicle starting from the readings of a strap-down gyro triad. Firstly, the problem statement is presented and the implied mathematical equations are shown. The theoretical model is based on the discretized form of a matrix differential equation solution, and focuses on its first six truncation order. In order to have an easier communication between the user and the software, especially in the off-line data processing applications, a Graphical User Interface is developed. The obtained software is validated by using an integrated INS/GPS navigation system as reference system, the inputs of our software being the outputs of the gyro sensors in the strap-down INS. The tool can be used in all strap-down inertial systems application fields like aerospace, naval and automotive navigation, robotics, as well as in medicine surgery. Also, the developed software can be used in the real time applications or in the off-line processing of the navigation inertial sensors recorded data.