Transcription of An introduction to inertial navigation
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An introduction to inertial navigation
Technical ReportNumber 696 Computer LaboratoryUCAM-CL-TR-696 ISSN 1476-2986An introduction to inertial navigationOliver J. WoodmanAugust 200715 JJ Thomson AvenueCambridge CB3 0 FDUnited Kingdomphone +44 1223 763500 2007 Oliver J. WoodmanTechnical reports published by the University of CambridgeComputer Laboratory are freely available via the Internet: 1476-2986An introduction to inertial navigationOliver J. WoodmanAbstractUntil recently the weight and size of inertial sensors has prohibited their use in domains such ashuman motion capture. Recent improvements in the performance of small and lightweight micro-machined electromechanical systems (MEMS) inertial sensors havemade the application of inertialtechniques to such problems possible. This has resulted in an increased interest in the topic ofinertial navigation , however current introductions to the subject fail to sufficiently describe the errorcharacteristics of inertial introduce inertial navigation , focusing on strapdown systems based on MEMS devices .
rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration respectively. By processing signals from these devices it is possible to track the position and orientation of a device, as described in Section 2.1.
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