An introduction to inertial navigation（介绍了惯性导航）.pdf

Technical Report UCAM-CL-TR-696 ISSN 1476-2986 Number 696 Computer Laboratory An introduction to inertial navigation Oliver J. Woodman August 2007 15 JJ Thomson Avenue Cambridge CB3 0FD United Kingdom phone +44 1223 763500 http://www.cl.cam.ac.uk/ c 2007 Oliver J. Woodman Technical reports published by the University of Cambridge Computer Laboratory are freely available via the Internet: http://www.cl.cam.ac.uk/techreports/ ISSN 1476-2986 An introduction to inertial navigation Oliver J. Woodman Abstract Until recently the weight and size of inertial sensors has prohibited their use in domains such as human motion capture. Recent improvements in the performance of small and lightweight micro- machined electromechanical systems (MEMS) inertial sensors have made the application of inertial techniques to such problems possible. This has resulted in an increased interest in the topic of inertial navigation, however current introductions to the subject fail to sufficiently describe the error characteristics of inertial systems. We introduce inertial navigation, focusing on strapdown systems based on MEMS devices. A com- bination of measurement and simulation is used to explore the erro