Abstract
In the early 1960s, the Inertial Navigation System (INS) was developed by Litton Industries. INS is a sensor-based, self-contained, dead-reckoning positioning system which uses a computer, motion sensors and rotation sensors to perform continuous positioning. The computation of position, velocity and attitude information of moving objects in INS is different fromGPS-based methods. This information is calculated by an inertial measurement unit (IMU), where the difference relative to a known starting position, velocity and attitude can be obtained [20]. However, INS suffers from integration drift and leads to unbounded accumulation of errors when calculating the time varied information, due to the needed integrations of small errors in the measurement of acceleration and angular velocity [28], [18]. Therefore, standalone INS-based positioning is unsuitable for accurate positioning over an extended period of time.
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