中文说明：你可以模拟惯性导航系统。当你从加速度计和陀螺仪的一些投入，你可以赚位置。作为一个简单的介绍，你可以赚的目标与整合，但实际过程更为复杂。你必须有国家的微分方程，而他们是情侣。这样计算的位置，你必须解决所有方程在一起。在此代码，必须先运行initial.m，然后运行INS.mdl。在Simulink模型（INS.mdl）你可以处理输入的加速度和旋转速率。在此模型中的TI假定输入都为零（对于非移动车辆）和传感器误差的影响进行了研究，但可以在其他的方式使用它。
English Description：
you can simulate an Inertial Navigation System.when you have some inputs from accelerometers and gyros, you can earn the position. as a simple description you can earn the goal with integration but the actual process is more complex. you must have the differential equations of states whereas they are couple. so for computing the position you must solve all equations together. in this code you must first run the initial.m and then run the INS.mdl. in the simulink model (INS.mdl) you can handle the inputs for acceleration and rotational rates.in this model ti assumed that the inputs are all zero (for a non-moving vehicle) and the effect of sensor errors are studied, but you can use it in the other way.