Template updating kalman filter

It does this by measuring the linear acceleration and angular velocity applied to the system.

The INS is initially provided with its position and velocity from another source (a human operator, a GPS satellite receiver, etc.) accompanied with the initial orientation and thereafter computes its own updated position and velocity by integrating information received from the motion sensors.

Performing integration on the inertial accelerations (using the original velocity as the initial conditions) using the correct kinematic equations yields the inertial velocities of the system and integration again (using the original position as the initial condition) yields the inertial position.

In our example, if the blindfolded passenger knew how the car was pointed and what its velocity was before he was blindfolded and if they are able to keep track of both how the car has turned and how it has accelerated and decelerated since, they can accurately know the current orientation, position and velocity of the car at any time.

An inertial navigation system (INS) is a navigation aid that uses a computer, motion sensors (accelerometers), rotation sensors (gyroscopes) and occasionally magnetic sensors (magnetometers), to continuously calculate by dead reckoning the position, the orientation and the velocity (direction and speed of movement) of a moving object without the need for external references.

It is used on vehicles such as ships, aircraft, submarines, guided missiles and spacecraft.

Gyroscopes measure the angular velocity of the sensor frame with respect to the inertial reference frame.