Abstract
Inertial navigation systems are widely used in autonomous motion systems. Because they do not rely on external information or radiate energy to the outside, the accuracy of inertial navigation depends on their initial alignment accuracy, and errors accumulate over time. The research progress of inertial navigation technology is summarized from two aspects in this paper: compensation algorithms and error models, and alignment calibration method. The results show that the speed error has been basically reduced to 0 and the accuracy of attitude and position output has also reached a high level. But it is difficult to continue to achieve significant breakthroughs in the above methods due to the limitation of production technology and miniaturization requirements. Further research on new-type gyroscopes, deep learning algorithm error compensation, and environmental adaptability are expected to improve the accuracy of inertial navigation systems.
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