Usage

• Copy the root folder, including all subfolders and files, to your computer
• Run 'psinsinit.m' to initialize PSINS environment.
• cd '/mytest'
• Run 'testtrj.m' to generate a moving trajectory.
• Run 'sinsgps_imm.m' to demonstrate IMMKF-INS.

Result

To Do

• From the curve of the probability of sub-models, it can be seen that the performance of achieving model swithcing still need to be improved.

Acknowledgement

• IMMKF-INS is based on the PSINS Matlab toolbox developed by Prof.Gongmin Yan of Northwestern Polytechnical University.