Abstract
An inertial navigation system is an autonomous system that provides information about position, velocity and attitude based on the measurements by inertial sensors and applying the dead reckoning (DR) principle. DR is the determination of the vehicle’s current position from knowledge of its previous position and the sensors measuring accelerations and angular rotations. Given specified initial conditions, one integration of acceleration provides velocity and a second integration gives position. Angular rates are processed to give the attitude of the moving platform in terms of pitch, roll and yaw, and also to transform navigation parameters from the body frame to the local-level frame.
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The terms azimuth angle and yaw angle are both used to represent the deviation from north. The difference lies in the direction of measurement: the azimuth angle is measured clockwise from north whereas the yaw angle is measured counter clockwise.
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Noureldin, A., Karamat, T.B., Georgy, J. (2013). Inertial Navigation System. In: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30466-8_4
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DOI: https://doi.org/10.1007/978-3-642-30466-8_4
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Online ISBN: 978-3-642-30466-8
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