Abstract
This chapter focuses on how inertial sensors function and how they are integrated into navigation systems. It discusses the terminology for the phenomenology and apparatus of inertial navigation, technologies used for sensing rotation and acceleration, error characteristics of inertial sensors and sensor error compensation methods. Models for mitigating sensor errors, inertial navigation systems require internal models for the external world in which they must navigate. These models define the navigation coordinates to be used, including any departures from inertial coordinates. The advantages of tightly coupled global navigation satellite system (GNSS)/inertial navigation system (INS) integration is that INS sensors can be continuously calibrated all the time that GNSS data is available. Inertial navigation accuracy is limited by inertial sensor accuracy. INS accuracy degrades over time, and the accurate systems generally have shortest mission times. Before testing and evaluation of an INS, its expected performance is commonly evaluated using the analytical models.
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