Abstract
A Gyro-Free Inertial Measurement Unit (GF-IMU) uses a configuration of accelerometers only to measure the linear and angular acceleration of a rigid body in 3-D space, wherefrom the mechanization equations are integrated to yield the navigation state. Whereas in the past attempts were made to design microelectromechanical systems (MEMS) based GF-IMUs, the renewed interest in GF-IMUs springs from the possibility offered by cold atom interferometry-based high-accuracy acceleration measurements. Thus, in this paper, the Gyro-Free Inertial Navigation System (GF-INS) theory is developed. The mechanization equations for a gyro-free inertial navigation system are obtained, and the GF-IMU navigation state's error equations are derived. The latter afford the prediction of the navigation accuracy of a GF-INS using covariance analysis, and also the development of a Kalman filter for optimally fusing the GF-INS measurements with the measurements provided by additional sensors, for example, a ring laser gyro or navigation quality conventional INS. Copyright © 2013 Institute of Navigation.
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