Inertial navigation is unique among navigation systems in that it requires no external references and can be carried out entirely by the measurement of acceleration within the vehicle. In a strapdown system the platform containing the accelerometers is attached directly to the aircraft structure, and the attitude of the platform is accurately measured so that the component of gravity present in each accelerometer can be calculated. The strapdown systems are referred to as inertial reference systems (IRSs) incorporated in an air data inertial reference unit (ADIRU) that combines data from the air data computer with aircraft attitude and navigation data from the IRS in a single unit. The various navigation sources, including radio navigation beacons, GNSS, and inertial guidance systems all produce navigational data that predict the position of the aircraft with an associated error. The chapter discusses the basic principle of the Kalman filter for correcting the values of the associated error.
Inertial Navigation and Kalman Filtering
Aircraft Systems ; 433-461
2018-11-09
29 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
CORRESPONDENCE - Sigma-Point Kalman Filtering for Integrated GPS and Inertial Navigation
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