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What is an Inertial Navigation System?
An inertial navigation system (INS) is a self-contained device consisting of an inertial measurement unit (IMU) and computational unit. The IMU is typically made up of a 3-axis accelerometer, a 3-axis gyroscope and sometimes a 3-axis magnetometer and measures the system's angular rate and acceleration. The computational unit used to determine the attitude, position, and velocity of the system based on the raw measurements from the IMU given an initial starting position and attitude.
What is an Inertial Measurement Unit?
An Inertial Measurement Unit (IMU) is a device that typically consists of gyroscopes to measure and report angular rate and accelerometers to measure and report specific force. In this section we delve deeper into the inner workings of an inertial measurement unit to explore all the relevant specifications and information required to select the correct IMU for your application.
IMU / AHRS
3.5 Magnetometer Errors & Calibration
A magnetometer is a type of sensor that measures the strength and direction of the local magnetic field. The magnetic field measured will be a combination of both the earth's magnetic field and any magnetic field created by nearby objects. The magnetic field is measured in the sensor reference frame.
Inertial Navigation Primer
The VectorNav Library is your introduction to all things Inertial Navigation.
2.10 Feedback Controls
The final section in this chapter will cover the Proportional-Integral-Derivative Controller (PID Controller) and latency.
2.9 Nonlinear Kalman Filter
Learn more about the Extended Kalman Filter and the Unscented Kalman Filter.
2.8 Kalman Filters
In this section, we'll review the State Vector and State Covariance Matrix, Two-Step Process, Propagate Step, Update Step and Tuning a Kalman Filter
2.7 Least Squares
Explore Linear Least Squares, Weighted Least Squares, and Nonlinear Least Squares.
2.6 Filtering Basics
This section covers Gaussian Noise, Standard Deviation, RMS, and Variance, Digital Filters, and Complementary Filters.
2.5 Attitude and Position Integration
Learn more about Coning and Sculling Integrals, Attitude Integration, and Position and Velocity Integration.
2.4 Attitude Transformations
This section will cover Quaternion to/from Direction Cosine Matrix, Euler Angles to/from Direction Cosine Matrix, and Quaternion to/from Euler.