Algorithms of gyro-free accelerometer-based satellite-inertial navigation system

V. B. Larin, A. A. Tunik


The basic problem of creation of accelerometer-based Strapdown Inertial Navigation System is the conversion of the redundant linear accelerometers readouts in the estimation of the angular accelerations, angular rates and the attitude determination. The relation between amount of redundant sensors and performance (accuracy) of signal processing software is investigated. It is shown that increasing amount of sensors from minimal value 6 to 12 gives additional possibilities of correction of estimation results, thus increasing the estimation accuracy. Simulation of such systems shows the efficiency of estimation especially in a case of the moving vehicle, spinning with high angular rate, when traditional usage of gyros might be very problematic


linear accelerometers; rate gyros; Euler angles; integrated navigation systems; rotational mechanization; Global Positioning System


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