Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Inertial Navigation

  • Renato ZanettiEmail author
  • Christopher D’Souza
Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_100036-1


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.


Inertial measurement unit Coning correction Sculling correction Navigation 
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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2020

Authors and Affiliations

  1. 1.University of Texas at AustinAustinUSA
  2. 2.NASA Johnson Space CenterHoustonUSA

Section editors and affiliations

  • Panagiotis Tsiotras
    • 1
  1. 1.Georgia Institute of TechnologyAtlantaUSA