Abstract
In general, an inertial navigation system (INS) consists of a navigation computer and an inertial measurement unit (IMU). Given initial conditions and IMU measurements, the INS provides the position, velocity, and orientation of its carrying platform. The inertial sensors, namely, the accelerometers and gyroscopes (gyros), are part of the IMU. A classical IMU architecture has three accelerometers (to measure specific force) and three gyros (to measure angular velocity) arranged in orthogonal triads.
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