Navigation Computation in Terrestrial Strapdown Inertial Navigation Systems

The problem of computing the translational velocity and position relative to earth, which has to be solved by the processor of a strapdown inertial navigation system is discussed. Several approaches are briefly examined with consideration given to the form in which the sensor data are generated and...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 1977-11, Vol.AES-13 (6), p.679-689
Main Author: Bar-Itzhack, Itzhack Y.
Format: Article
Language:English
Subjects:
Aerospace engineering
Computer vision
Differential equations
Earth
High performance computing
Inertial navigation
Jacobian matrices
Missiles
Position measurement
Programming
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Summary:The problem of computing the translational velocity and position relative to earth, which has to be solved by the processor of a strapdown inertial navigation system is discussed. Several approaches are briefly examined with consideration given to the form in which the sensor data are generated and to the computational burden involved in each approach. A computational scheme is finally selected in which the computation is divided into three rate levels. The differential equations of this scheme are developed and the assumptions on which the development is founded are stated. Three variants of the basic scheme are presented, each based on a different level of simplifying assumptions. The main purpose of this work is to develop the differential equations to be solved at each stage of the computation, rather than the numerical implementation of the solution. This work supplies the theoretical background for some of the numerical methods which are now being used.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.1977.308509