Inertial Navigation Systems
Inertial Navigation Systems
- Neue Suche nach: Fossen, Thor I
- Neue Suche nach: Fossen, Thor I
The inertial navigation algorithms depend on sensors for acceleration and angular rates to compute an estimate of the position, velocity and attitude of the craft. An inertial navigation system (INS) consists of the following: inertial measurement unit, and navigation computer. An INS uses a computer, accelerometers and attitude rate sensors to continuously calculate by dead reckoning the position, velocity and attitude of a moving craft without the need for external reference signals. The chapter presents static and dynamic solutions to the attitude estimation problem without using information about the position. In a direct filter design, the marine craft position and velocity are states in the estimator, while accelerometer and angular rate measurements are used as inputs to the strapdown navigation equations. For the feedback version of the indirect Kalman filter, the error estimates are used to update the INS estimates directly in order to avoid drift.
Dokumentinformationen
Inertial Navigation Systems
2021-06-01
50 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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