Inertial Navigation Primer

Chapter 1 - Theory of Operation

• 1.1 Inertial Sensors
• 1.2 Global Navigation Satellite System (GNSS)
• 1.3 MEMS Operation
• 1.4 High-Performance Gyroscopes
• 1.5 Advanced GNSS
• 1.6 Attitude & Heading Reference System (AHRS)
• 1.7 GNSS-Aided Inertial Navigation System (GNSS/INS)
• 1.8 GNSS Compass/INS (Dual GNSS/INS)
• 1.9 Heading Determination

Chapter 2 - Math Fundamentals

• 2.1 Reference Frames
• 2.2 Datums & World Models
• 2.3 Attitude Representations
• 2.4 Attitude Transformations
• 2.5 Attitude and Position Integration
• 2.6 Filtering Basics
• 2.7 Least Squares
• 2.8 Kalman Filter
• 2.9 Nonlinear Kalman Filter
• 2.10 Feedback Controls

Chapter 3 - Specifications & Error Budgets

• 3.1 IMU Specifications
• 3.2 IMU Calibration & Characterization
• 3.3 INS Error Budget
• 3.4 GNSS Error Budget
• 3.5 Magnetic Error Sources
• 3.6 Magnetometer Hard & Soft Iron Calibration

Chapter 4 - Hardware

• 4.1 Asynchronous Serial Communication
• 4.2 Synchronous Serial Communication
• 4.3 Other Communication Standards
• 4.4 Electrical Interfaces
• 4.5 RF Hardware
• 4.6 Electromagnetic Interference (EMI)

Chapter 5 - Alternative Navigation

• 5.1 GNSS-Challenged Environments
• 5.2 Enhanced GNSS Technologies
• 5.3 Absolute Localization
• 5.4 Relative Localization

Chapter 6 - Examples

• 6.1 Attitude Transformations
• 6.2 Noise Calculations
• 6.3 Least Squares
• 6.4 MIL-STD-461G