An inertial navigation system (INS) is a self-contained device consisting of an inertial measurement unit (IMU) and computational unit. The IMU is typically made up of a 3-axis accelerometer, a 3-axis gyroscope, and sometimes a 3-axis magnetometer and measures the system's angular rate and acceleration. The computational unit is used to determine the attitude, position, and velocity of the system based on the raw measurements from the IMU given an initial starting position and attitude.
As we mentioned above an inertial navigation system (INS) uses an inertial measurement unit (IMU) consisting of accelerometers, gyroscopes, and sometimes magnetometers. The gyroscope and magnetometer provide an INS system with the same contributions that they provide to an AHRS. The gyroscope angular rate measurements are integrated for a high-update rate attitude solution, while the magnetometer (if used) provides a heading reference similar to a magnetic compass.
Figure 1: Litton LN-3 Inertial Navigation System
The computational unit is responsible for recording all inertial measurements and performing the necessary calculations, typically through the use of advanced Kalman filtering to determine the attitude, velocity, and final position. The following sections will dive into the calculations necessary to determine the attitude, velocity, and position based on measurements from the IMU and also discuss the various specifications for the sensors and how they impact the overall accuracy of the INS.
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