Insert this at the top of the XSD
<?xml version="1.0" encoding="UTF-8"?>
<?xml-stylesheet type="text/xsl" href="xs3p.xsl"?>
Then you can directly view the XSD file using a web-browser. The web browser does the conversion to HTML using the specified XSLT.
You don't need an XSL processor, but stylesheets like xs3p won't generate links using this approach. I use the Firefox web-browser, IE8 seems useless for this.
I've tried these xsl stylesheets:
https://sourceforge.net/projects/xs3p/files/xs3p-1.1.3.zip/download
http://crism.maden.org/consulting/pub/xsl/xsd2html.xsl
I think I prefer xs3p.