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Posted by / 29-Sep-2017 05:26

Zero velocity updating

Other terms used to refer to inertial navigation systems or closely related devices include inertial guidance system, inertial instrument, inertial measurement unit (IMU) and many other variations.

Older INS systems generally used an inertial platform as their mounting point to the vehicle and the terms are sometimes considered synonymous.

This can be thought of as the ability of a blindfolded passenger in a car to feel the car turn left and right or tilt up and down as the car ascends or descends hills.

Based on this information alone, the passenger knows what direction the car is facing but not how fast or slow it is moving, or whether it is sliding sideways.

Based on this information alone, they know how the vehicle is accelerating relative to itself, that is, whether it is accelerating forward, backward, left, right, up (toward the car's ceiling), or down (toward the car's floor) measured relative to the car, but not the direction relative to the Earth, since they did not know what direction the car was facing relative to the Earth when they felt the accelerations.

An INS can detect a change in its geographic position (a move east or north, for example), a change in its velocity (speed and direction of movement) and a change in its orientation (rotation about an axis).By processing signals from these devices it is possible to track the position and orientation of a device.Inertial navigation is used in a wide range of applications including the navigation of aircraft, tactical and strategic missiles, spacecraft, submarines and ships.It does this by measuring the linear acceleration and angular velocity applied to the system.Since it requires no external reference (after initialization), it is immune to jamming and deception.

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Performing integration on the inertial accelerations (using the original velocity as the initial conditions) using the correct kinematic equations yields the inertial velocities of the system and integration again (using the original position as the initial condition) yields the inertial position.