𝐈𝐧𝐞𝐫𝐭𝐢𝐚𝐥 𝐍𝐚𝐯𝐢𝐠𝐚𝐭𝐢𝐨𝐧 𝐒𝐲𝐬𝐭𝐞𝐦

Inertial Navigation System

🛩️INSs contain Inertial Measurement Units (IMUs) which have angular and linear accelerometers (for changes in position).

🛩️some IMUs include a gyroscopic element (for maintaining an absolute angular reference).

🛩️Angular accelerometers measure how the vehicle is rotating in space.

🛩️Generally, there is at least one sensor for each of the three axes: pitch (nose up and down), yaw (nose left and right) and roll (clockwise or counter-clockwise from the cockpit).

🛩️Linear accelerometers measure non-gravitational accelerations of the vehicle.

🛩️Since it can move in three axes (up & down, left & right, forward & back), there is a linear accelerometer for each axis.

🛩️A computer continually calculates the vehicle's current position.

🛩️First, for each of the six degrees of freedom, it integrates over time the sensed acceleration, together with an estimate of gravity, to calculate the current velocity. Then it integrates the velocity to calculate the current position.

🛩️Component
✈️Three linear accelerometers arranged orthogonally to supply X, Y, and Z axis components of acceleration.

✈️Gyroscopes to measure and use changes in aircraft vector to maintain and orient the stable platform.

✈️A stable platform oriented to keep the X and Y axis linear accelerometers oriented north-south and eastwest to provide azimuth orientation and to keep the Z axis aligned with the local gravity vector. The stable platform is necessary to prevent either the X or Y axis accelerometer from picking up the force of gravity and interpreting it as an acceleration on the aircraft.

✈️Integrators to convert raw acceleration data into velocity and distance data.

✈️Computer to continuously calculate position information.

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