Inertial navigation system (INS) provides all information about the kinematics of a vehicle, namely attitude and heading, ground speed and position, and also angular rate and acceleration independent of any sources of reference from outside. No question about its role for military aviation, marine navigation and for missiles. A high inertial technology is nowadays a trademark for military independent of many countries. Inertial navigation is also widespread in use in civil aviation and in space flight. Any large civil aircraft is equipped with two or three inertial navigation reference systems. The advent of the 'Global Navigation Satellite System (GNSS)' will in principle not change this situation in the time to come, especially under the consideration that a solution for its undisturbed availability in times of strained political situations for the countries running the system is not yet in sight. This chapter is arranged in the following training of thoughts. The directional reference in an INS is explained with the mechanical gyro and stabilized platform as examples. It is symbolized by the weathercock in the functional diagram for a platform INS. The characteristics of the gyrostabilized platform as directional reference serve to visualize the characteristics of the 'analytic platform' in the navigational computer of modern strapdown systems. Again this is symbolized in a weathercock, the functional diagram for a strapdown system. Directional references and their error characteristics are discussed. Accelerometers as sensors for measuring the translational motion are fairly simple instruments in principle, but the formula for their output signal on the rotating earth is lengthy and it is the basis for programming the navigational computer of an INS. These aspects are treated in Section 3. The integration of the accelerometer signal to ground speed and position and the control or computation of the directional reference is subject of the navigational computer. The interlinking of all signals within and INS causes error characteristics more benign than we would expect from our school learning. This is subject of Section 4. Also the INS for worldwide navigation, common features and differences of all mechanizations are discussed. the goal is to derive the error model appropriate for integrating the INS with the other sensors and systems discussed in this book. The main part of this chapter contains only general outline which are essential from the system point of view. Special features as coordinate systems for inertial navigation supplementing the chapter 'Navigation Coordinate Systems', digital data processing of inertial signals especially in strapdown systems, and optical gyros are treated in the appendices wich are named correspondingly with C, D, and O.


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