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Inertial navigation refers to the calculation of position, velocity, and orientation using measurements from inertial measurement units (IMUs) comprising accelerometers and gyroscopes. In particular, inertial navigation systems integrate forward in time the initial state of the systems replacing dynamic models with IMU measurements. This entry reviews the inertial navigation equations in a compact concise manner. Both the attitude and translational integration equations are presented. The work focuses on strapdown inertial measurement units, with particular emphasis on the algorithms used to compensate for the vehicle’s rotation.
KeywordsInertial measurement unit Coning correction Sculling correction Navigation
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