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Inertial Navigation

Inertial Navigation

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Published by M S Prasad
inertial navigation theory and errors
inertial navigation theory and errors

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Categories:Types, Reviews
Published by: M S Prasad on Feb 01, 2013
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02/01/2013

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Inertial Navigation & guidancesystem
For Grad & Post grad AvionicsstudentsPart One
 
Inertial navigation is a
self-contained navigation
technique inwhich measurements provided by accelerometers andgyroscopes are used to track the position and orientation of an object relative to a known starting point, orientation andvelocity.Inertial measurement units (IMUs) typically contain threeorthogonal rate-gyroscopes and three orthogonalaccelerometers, measuring angular velocity and linearacceleration respectively. By processing signals from thesedevices it is possible to track the position and orientation
 
Inertial sensors measure rotation rate and acceleration both are vectors.
Gyroscopes
are sensors for measuring rotation: rate gyroscopesmeasure rotation rate, and integrating gyroscopes measure rotation angles(also called
whole‐angle
gyroscopes)
Accelerometers
are sensors for measuring acceleration. However, accelerometersCannot measure gravitational acceleration.That is, an accelerometer in free fall (in orbit) has no detectable input.
  
=
   
+ dw/dt X R + 2wXdR/dt + wx(wxR)= A + gintegrationAcce.gravityintegrationR

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