Reference

Coordinate transformation
X_ellips2ned()	Transform position from ellipsoidal to NED coordinates
X_ned2ellips()	Transform position from NED to ellipsoidal coordinates
Create objects
make_sensor()	Construct a sensor object
make_timing()	Construct a timing object
make_trajectory()	Construct a trajectory object
Perform navigation simulation
navigation()	Runs "IMU model evaluation" or "INS-GPS-Baro integrated navigation (sensor fusion)"
Compute Statistics
compute_coverage()	Compute Coverage
compute_mean_orientation_err()	Compute mean orientation error
compute_mean_position_err()	Compute mean position error
compute_nees()	Compute Normalized Estimation Errror Squared (NEES)
Inspect objects
print(<sensor>)	Print a sensor object parameters (name, frequency and error model)
Visualize objects and results
plot(<trajectory>)	Plot a trajectory object
plot(<navigation>)	Plot a navigation object
plot_nav_states_with_cov()	Plot navigation states with covariance
plot_imu_err_with_cov()	Plot IMU error with covariances
plot(<nees.stat>)	Plot multiple nees.stat objects
plot(<coverage.stat>)	Plot multiple coverage.stat objects
plot(<navigation.stat>)	Plot multiple navigation.stat objects
Data
example_1_traj_ned	Example trajectory 1 in NED coordinates
example_1_traj_ellipsoidal	Example trajectory 1 in ellipsoidal coordinates
example_2_traj_ned	Example trajectory 2 in NED coordinates
example_2_traj_ellipsoidal	Example trajectory 2 in ellipsoidal coordinates
lemniscate_traj_ned	Lemniscate trajectory in NED coordinates