Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 73

The overview of inertial navigation in Section 1.3 alluded to the history and terminology of the technology. The focus here is on how inertial sensors function and how they are integrated into navigation systems, including the following:

1 Terminology for the phenomenology and apparatus of inertial navigation

2 Technologies used for sensing rotation and acceleration

3 Error characteristics of inertial sensors

4 Sensor error compensation methods

5 How to compensate for unsensed gravitational accelerations

6 Initializing and propagating navigation solutions for attitude (rotational orientation), velocity, and position

7 Carouseling and indexing as methods for mitigating the effects of sensor errors

8 System‐level testing and evaluation

9 INS performance metrics and standards

How this all affects navigation performance is discussed in Chapter 11.