1. What is the innovation of your topic?

Inertial navigation is a comprehensive technology involving various disciplines and fields such as precision machinery, computer technology,
microelectronics, optics, automatic control, and materials. The growth of application demand is the driving force for navigation technology to expand in new
directions. The vigorous development of modern technology supports the continuous progress of inertial sensor technology and promotes the application of
inertial navigation technology to a wider field.This study proves that localization can be done in GPS-denied environments and different Kalman filtering
methods can play an immense role here. The navigation information output by the GPS navigation system is used as the observation of the system state, and
the state of the system (position, speed, etc.) is determined by Kalman filtering. And the error is optimized to achieve the calibration and error compensation
of the inertial navigation system, so it will be beneficial for future localization, navigation, and mapping purposes.

2. What are the advantages?

As we have seen so far, whenever we have the three axis data from GPS or the latitude-longitude data from GPS, then it becomes very easy to localize an
entire area without any trouble. But in places where GPS data is not available, such as underground, indoor, underwater, or anywhere, it becomes very tough
to localize an area. And in that condition, inertial navigation and GPS satellite navigation can play an immense role in localizing an area quite precisely.
Commonly, there is a combination of inertial navigation and GPS satellite navigation (INS/GPS) navigation systems. Compared with inertial navigation, GPS
has the advantages of low cost, high navigation accuracy, and no accumulation of errors over time. The inertial navigation system can calculate the velocity
and displacement from the gyroscope and accelerometer in real time, so as to continuously update the position, velocity, heading, and attitude angle data of
the moving object, and help the object accurately maintain the dynamic reference.

3. What are the professional-related techniques used?

This study focuses on different techniques to eliminate the state errors of the inertial sensors, especially by utilizing various types of Kalman filtering
methods. The results of the study show the different error elimination results with productive approaches. Besides, the error reduction impacts were
analyzed and examined throughout the paper. Finally, the paper highlights the different aspects and impacts of inertial navigation, especially in the light of
error elimination technology. Plus, it gives a solid insight into the concept of error elimination and enhanced inertial navigation accuracy.
4. Why did you choose this subject?

I chose the topic of Inertial Navigation Error Elimination Technology because the pure inertial navigation system of external data is still a viable and
worthwhile research topic. Even in the popular article, it was cited that inertial navigation systems are miniaturizing, strapping down, and integrating
navigation as technology advances. Future navigation systems will have multi-system integration, a mix of different navigation methods, automated fault
detection and isolation, intelligent navigation, and a user-friendly human-computer interaction interface. During the topic selection stage, my tutor, Mr. Su
Yanmang, also let me choose a more personal experience. I wrote about it because I am passionate about the topic and want others to understand something
about it.

So, this study was effective in eliminating inertial navigation errors, but it is still a long way from being put into practice. I will continue to enhance our
research of inertial navigation technology, understand more in-depth navigation error reduction technology, practice and improve, and look forward to
contributing more to inertial navigation technology in the future.

5. What is the core content of the topic?

First of all this study highlights the fundamentals of the Indoor Location System Based On Inertial Sensors, where it mainly focuses on the main technology
of Inertial Navigation Technology. Besides, the Strapdown Inertial Navigation System and the Error Analysis of Strapdown Inertial Navigation System has
been discussed. After that, some data processing methods has been shown. Next, the paper discusses about the Basic flow of calculating navigation
parameters, where the main topics are respectively: Calculate the initial Quaternion value, Calculate the quaternion direction cosine matrix, Calculation of
motion parameters of ground coordinate system, Update Quaternion, and Solving the attitude angle. Again, the study also focuses on the Calculation of
navigation parameters using dynamic compensation, where the basic theme concentrates on Calculate and then transform the coordinate system and Convert
the coordinate system first and then calculate. And in the following part, the Inertial Navigation System Alternative to GPS-Based Tracking has been
discussed, where it introduces the GPS based tracking, and its implementations and diagram. Finally, the study focuses on the Analysis of Error Elimination
Results where the main points are all about Temperature Measurement, Free Fall Tracking and GPS Navigation and Positioning.

What are the benefits?

An inertial navigation system is an autonomous navigation system that uses inertial sensing devices, reference direction, and initial position information to
determine the position, direction, and speed of the carrier in inertial space, sometimes referred to as inertial navigation. Its working environment includes not
only the air and the ground but also underwater. As far as the global development status is concerned, the existing inertial sensors can already meet the
accuracy requirements of various current navigation tasks.Without relying on external reference, the current position and speed of the object can be calculated
using its own motion sensor given the initial value.
Strong adaptability to the environment: Because the inertial navigation system does not rely on external information and does not need to radiate energy to the
outside, it is not easily interfered with by the complex external electromagnetic environment and can still maintain good working performance under various
extreme weather conditions and geographical locations; it can work in the air, on the ground, underwater, or on Mars.

The inertial navigation system can calculate the velocity and displacement from the gyroscope and accelerometer in real time, so as to continuously update the
position, velocity, heading, and attitude angle data of the moving object, and help the object accurately maintain the dynamic reference;

Equipment costs are higher than other navigation systems.

In practical applications, the current accurate initial position and velocity of the object are given by GPS or other external systems, and the inertial navigation
system can calculate the velocity and displacement from the gyroscope and accelerometer in real time, thereby continuously updating the current position and
velocity of the object;

The specific calculation process of the inertial navigation system includes inertial rate and inertial position. The inertial navigation system first records the
current angular velocity and linear acceleration through the gyroscope and accelerometer, and then integrates the inertial acceleration with the initial speed as
the initial condition to obtain the inertial rate of the system; and finally, the inertial navigation system integrates the inertial velocity with the given initial
position as the initial condition to obtain the inertial position;

This paper firmly studied various methods regarding inertial navigation, especially regarding error elimination technology. Different Kalman
filtering methods, such as Extended Kalman Filtering, have been utilized in this study to overcome the error problem. Moreover, various analyses
and diagrams have been conducted and shown to describe the matter more effectively. And finally, the paper proactively talks about the outcomes
and results regarding the tracking, navigation, and positioning, especially based on Matlab. If we dig deeper, we can see that inertial sensors with
high speed and performance will continue to be the focus of future research. Moreover, the platform-based navigation system will be replaced by the
strap-down inertial navigation system, which will be influenced by the rapid growth of current computer technology.

Currently, visible navigation, radio navigation, astronomical navigation, inertial navigation, satellite location navigation, and other navigation systems are
widely utilized in vehicles, ships, planes, missiles, and spacecraft, among others. Because of their worldwide and all-weather capabilities, inertial navigation
and satellite navigation have received a lot of attention.

The inertial sensor, with its low price, compact size, high precision, and high performance, is the future development direction in inertial navigation
system research and will become the center of attention in the military and civilian domains.
The pure inertial navigation system of external data is still a viable and worthwhile research topic. Integrated navigation systems will eventually replace pure
INS as the primary navigation technique in the future, as demand for high-performance autonomous navigation systems grows and multi-mode GNSS
technology becomes more widely used.

Inertial navigation systems are miniaturizing, strapping down, and integrating navigation as technology advances. Future navigation systems will
have multi-system integration, a mix of different navigation methods, automated fault detection and isolation, intelligent navigation, and a user-
friendly human-computer interaction interface. Future navigation and positioning systems will heavily rely on inertial navigation.

Despite the fact that this study was effective in eliminating inertial navigation errors, it is still a long way from being put into practice. We will
continue to enhance our research of inertial navigation technology, understand more in-depth navigation error reduction technology, practice and
improve, and look forward to contributing more to inertial navigation technology in the future.