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.
using angle pick-offs. Note that a conventional gyroscope measures orientation. In contrast nearly all modern gyroscopes (including the optical and MEMS types outlined in Sections 3.1.2 and 3.1.3) are rate-gyros, which measure angular velocity. The main disadvantage of mechanical gyroscopes is that they contain moving parts. Moving parts
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