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Basic Principles of Inertial Navigation (惯性导航的基本原理)
Basic Principles of Inertial
Navigation
Seminar on inertial navigation
systems
Tampere University of Technology
1
The five basic forms of navigation
• Pilotage, which essentially relies on recognizing landmarks to know
where you are. It is older than human kind.
• Dead reckoning, which relies on knowing where you started from
plus some form of heading information and some estimate of speed.
• Celestial navigation, using time and the angles between local vertical
and known celestial objects (e.g., sun, moon, or stars).
• Radio navigation, which relies on radio‐frequency sources with
known locations (including GNSS satellites, LORAN‐C, Omega, Tacan,
US Army Position Location and Reporting System…)
• Inertial navigation, which relies on knowing your initial position,
velocity, and attitude and thereafter measuring your attitude rates
and accelerations. The operation of inertial navigation systems (INS)
depends upon Newton’s laws of classical mechanics. It is the only
form of navigation that does not rely on external references.
• These forms of navigation can be used in combination as well. The
subject of our seminar is the fifth form of navigation – inertial
navigation.
2
A few definitions
• Inertia is the property of bodies to maintain constant translational and rotational
velocity, unless disturbed by forces or torques, respectively (Newton’s first law of
motion).
• An inertial reference frame is a coordinate frame in which Newton’s laws of motion
are valid. Inertial reference frames are neither rotating nor accelerating.
• Inertial sensors measure rotation rate and acceleration, both of which are vector‐
va
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