Introduction to Inertial Navigation and Kalman （介绍了惯性导航和卡尔曼滤波）.pdf

Note 1: This is a short (20 pages) tutorial. An extended (57 pages) tutorial that also includes Kalman filtering is available at /Publications/Introduction_to _Inertial_Navigation_and_Kalman_Filtering.pdf Introduction to Inertial Navigation (INS tutorial – short) Tutorial for: Geodesi- og Hydrografidagene 2005, Hoenefoss, Norway Kenneth Gade, FFI (Norwegian Defence Research Establishment) To cite this tutorial, use: Gade, K. (2005): Introduction to Inertial Navigation. Tutorial for Geodesi- og Hydrografidagene 2005, Hoenefoss, Norway Navigation Navigation: Estimate the position, orientation and velocity of a vehicle Inertial navigation: Inertial sensors are utilized for the navigation Inertial Sensors Based on inertial principles, acceleration and angular velocity are measured. • Always relative to inertial space • Most common inertial sensors: – Accelerometers – Gyros Accelerometers By attaching a mass to a spring, measuring its deflection, we get a simple accelerometer. Figure: Gade (2004) Accelerometers (continued) • Gravitation is also measured (Einsteins principle of equivalence) • Total measurement called specific force •