惯导仿真部分模块化，标准化，分为IMU模块，初始对准模块，SINS解算模块，SINS性能评价模块，SINS解算的输出为地理坐标系内速度、经纬高、姿态角,运行INS_perforEva.m可以得到惯导仿真结果。-INS simulation part modular, standardized, divided IMU module, the initial alignment module, SINS solver module, SINS performance uation module,