Aided Inertial Navigation System (AINS) Toolbox for MatLab Software. The aided inertial navigation system (AINS) Toolbox is a set of libraries written for MatLab software, a standard scientific computing environment, each of which can be called separately. It also provides estimation tools to optimally combine the data files from an inertial measurement unit (IMU) together with information from other aiding sensors, such as the global positioning system (GPS), odometers, heading, and non-holonomic constraints. The toolbox supports various attitude parameterizations including the direction cosine matrix (DCM), Euler angles, rotation vector, and quaternion. Transformations between these parameterizations are also implemented as shown in Figure 1. ...

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  1. Grewal, Mohinder S.; Andrews, Angus P.: Kalman filtering. Theory and practice with MATLAB (2015)