Inertial Navigation Simulator

High-fidelity strapdown INS simulation with accelerometer and gyroscope error modeling for underwater vehicle navigation.

INS Configuration

IMU Grade

Update Rate (Hz)

Simulation Duration (s)

300 s

Vehicle Speed (m/s)

3.0 m/s

IMU Specs

Gyro bias: 0.01 °/hr
Accel bias: 10 μg
ARW: 0.003 °/√hr

INS Navigation Solution

12.5

Position Error (m)

0.05

Velocity Error (m/s)

0.02

Attitude Error (°)

0.5

Drift Rate (m/min)

Error Parameters

Gyro Bias Instability (°/hr)

0.010

Accel Bias Instability (μg)

ARW (°/√hr)

0.003

VRW (m/s/√hr)

0.03

Allan Variance Analysis

150

1hr Pos Err (m)

2.5

Schuler Period (m)

0.1

Heading Err (°)

Alignment Setup

Alignment Mode

Latitude (°)

45°N

Alignment Duration (min)

15 min

Alignment Convergence

0.01

Roll Error (°)

0.01

Pitch Error (°)

0.05

Heading Error (°)

Complete

Status

Aiding Sources

DVL Aiding

Depth Sensor

USBL Updates

INS vs Aided Navigation

150

Pure INS (m)

5.2

INS+DVL (m)

0.8

Full Aided (m)

99%

Improvement