I\TRODUCTION

: . ,r qet the physics right, the rest is mathematics.

E. Kaiman
-Rudolf
Kailath Lecture, Stanford University, May I1, 2009

. H\PTER FOCUS

.: .ir presents a preview of where we are heading, some history of how others
: refore us, an overview showing how all the material fits together, and a
-rriation and nomenclature to make it more apparent.

\ K.\LMAN FILTERING

F irst of All: What Is a Kalman Filter? tL$1L

.:',. . it has been called the linear least mean .\quares estinTator (L r ': i ', '
. ::rinimizes the mean-squared estimation error for a linear stochat', ' ':.
: i',!risy linear sensors. It has also been called the linear quadrctric estL-
- 1E r because it minimizes a quadratic function of estimation error lor a
,,.t'rrc system with white measurement and disturbance noise. Even today,
.lalf a century after its discovery, it remains a unique accomplishment in

::; Theor.r ttncl Prctctice Lt.sing MATLAB@, Fourth Edition.

- ...r1 .tr'rd qngus P Artlteu..
..:le) & Sons, Inc. Published 2015 by John Wiley & Sons, Inc

Jr
 APPLICATIONS TO NAVIG.:.I - INERTIAL NAVIGATION SYSTEMS (INS)
549
a tuning fork due to the Corilis efth: .,
.-al resonator gyroscopes (also called ;,
' ohasing of mechanical vibrational n::,_r
"r
':i;1" hPUtl\axis
Lnne rotation. A microscale MEMS de. :r
l\rator) ( now Draper Laboratory t oe:=:.

W
ting free layer of silicon supported b., :

@
ir electrostatic "comb drive,, develop=.: ,
r:.)r Center tBSAC1 of rhe Uniier.::

e:suring inerlial acceleration, also c- :i Gyroscope

Accelerometer
,.,, hat rve call "gravitational -
accelera:_ :,r
;', irarional acceleration, which is ple::_rr.
,ins of the space-time continuum in a Inertial sensor assembly
=-,,
: :ree tall (e.g.. in orbit) in a grar it..: -* Figure 10.15 Inertial sensor assembly (ISA)
components.
:: 3L'celerometers measure is mode-;_ -,
. ',ihere -E is the physically applieC : ,--,,
Lir it is applied to, and specificforce .., .,:."to- o Added sensor redundancy for coping ,ltf, ,ingt"_r1ior
failures.
:tttct on inertial navigation error E:. : j o Reducing effective sensor errors in certain input
!-nsors include dirlctions.
The term inertial refbrence unit (IRIJ) sometimes
i; refers to an inertial sensor
ac.-elerometers (PIGAIO) in u.il;- :r* system for attitude information only (i.e.,
using onry gy.or"op"j. other terms
r-uheel _syroscope is offset axiali-" :: :r: used for the ISA are instrument cluster
and (for gimbiiea ,yri.,,, stabre ere_
.I precession torque proportiona.l :
":* ment, ineftial plaform, or stable platform. )
'.rrnal to the mass offset. These ai: ,:i
An inertial measurement unit (rMtJ) includes
t:e output accumulated precessio: . :: an ISA and its associated support
electronics for caribration and contror of the
rrur acceleration. They are also tL: - ISA (possibry rnctuaing tempera_
ture contror). These can be small enough to
I niefers. be packaged in a wristwatch.
An inertial navigation system (INS) consists of
ch measure the force necessan :, I i:r- an IMU plus the following:
:r housing. There are many methr,: r
o NaviSation computers (one or more) to
calculate the gravitational accel-
ranr different accelerometer de::.:: eration (not measured by accererometers)
and process'the outputs of the
accererometers and gyroscopes from the
I;ines rr hich vector compo11e ot r ] ._. IMU to maintain an estimate of
:
the position of the IMU. Intermediate resurts
ifiliiaris sensors measure rnor€ iL:- -"i of the imprementation method
usually include estimates of vel0city, attitude,
and attitude rates of the IMU.
,i- :nsemble of inertial sensor: ::-l
c user interf'aces, such as display consoles for
human operators and analog
L
and/or digitar data inrerfaces for vehicre guidancell
.:rn ihe same relative orientar: . u"d'ro;;;i funcrions.
,c,r assemblies used
_r
c Power suppries and/or raw power conditioning
in inertial na,.,-.-.1.i nr for the complete INS.
::presented by blocks with ,A" , i r u::
'r,r' Some INS designs include temperature
:d blocks with "G" on each :.:: jr control.
ir nore and they may use one ni_,-, r
:"er of single-axis sensors. Rea. - -: fl. -Yavigation Reference An. INS estimates the position
of its ISA, just as a GNSS
! ior an ISA include receiver estimates the position of its antenna.
wt.n these two systems are integrated
iogether, the offset between these two reference
points (ISA and antenna) must be
-.'. :n ihe 1930s and brought (with i1_: :, {
:rken into account.
:=.::. tor controlling ballistic mi:.: : -..- ,
: _: itr engine cut-off when a predeteir:: r : - runliltrj, :"Guidance"
generally includes the generation ofcommand
r ::;elerometer design. -i signals for controlling the motion and attitude
a vehicle to follow a specified trajectory or to arrir e at a
specified destination.