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  • Inertial Navigation System

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    Syed Hammad Arfi
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    An inertial navigation system combines a GNSS receiver and inertial measurement unit through sensor fusion to provide more accurate speed and positioning data than either could alone. While IMUs are very accurate in the short term, they drift over time, but GNSS receivers are stable long term but less accurate short term. By integrating the IMU's high sampling rate data into the GNSS measurements using a Kalman filter, the strengths of each can compensate for the weaknesses of the other.

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    Inertial navigation system

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    INS

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    An inertial navigation system combines a GNSS receiver and inertial measurement unit through sensor fusion to provide more accurate speed and positioning data than either could alone. While IMUs are very accurate in the short term, they drift over time, but GNSS receivers are stable long term but less accurate short term. By integrating the IMU's high sampling rate data into the GNSS measurements using a Kalman filter, the strengths of each can compensate for the weaknesses of the other.

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    © All Rights Reserved
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    4 views1 page

    Inertial Navigation System

    Uploaded by

    Syed Hammad Arfi
    An inertial navigation system combines a GNSS receiver and inertial measurement unit through sensor fusion to provide more accurate speed and positioning data than either could alone. While IMUs are very accurate in the short term, they drift over time, but GNSS receivers are stable long term but less accurate short term. By integrating the IMU's high sampling rate data into the GNSS measurements using a Kalman filter, the strengths of each can compensate for the weaknesses of the other.

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    © All Rights Reserved
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    Inertial Navigation System

    An INS is a coupled combination of two sensors, a GNSS reciever and an IMU.Both sensors individually can
    provide speed and or positioning data however when their outputs are coupled together ( combined via sensor
    fusion) the result is much more accurate then either system could achieve individually.

    IMU's for the short term are very accurate but due to the natural drift their unreliable long term. GNSS
    recievers provide stable and accurate readings over the long term however struggle and produce large errors
    over the short term. Considering these qualities we can integrate the IMU with a high sampling rate to the
    GNSS measurements via kalman filter.

    Above is the proposed architecture of the INS

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