文件名称：Inertial Navigation
文件大小：403KB
文件格式：PDF
更新时间：2014-11-12 15:42:35
Inertial Navigation
This paper will discuss the design and implementation of an inertial navigation system (INS) using an inertial measurement unit (IMU) and GPS. The INS is capable of providing continuous estimates of a vehicle’s position and orientation. Typically IMU’s are very expensive sensors, however this INS will use a “low cost” version costing only $5,000. Unfortunately with low cost also comes low performance and is the main reason for the inclusion of GPS into the system. Thus the IMU will use accelerometers and gyros to interpolate between the 1Hz GPS positions. All important equations regarding navigation are presented along with discussion. Results are presented to show the merit of the work and highlight various aspects of the INS.