angular velocity sensor

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1. Introduction to Strapdown Inertial Navigation in English

An inertial navigation system is a navigation aid that uses a computer and motion sensors to continuously track the position, orientation, and velocity (direction and speed of movement) of a vehicle without the need for external references. Other terms used to refer to inertial navigation systems or closely related devices include inertial guidance system, inertial reference platform, and many other variations.OverviewAn inertial navigation system includes at least a computer and a platform or module containing accelerometers, gyroscopes, or other motion-sensing devices. The INS is initially provided with its position and velocity from another source (a human operator, a GPS satellite receiver, etc.), and thereafter computes its own updated position and velocity by integrating information received from the motion sensors. The advantage of an INS is that it requires no external references in order to determine its position, orientation, or velocity once it has been initialized.An INS can detect a change in its geographic position (a move east or north, for example), a change in its velocity (speed and direction of movement), and a change in its orientation (rotation about an axis). It does this by measuring the linear and angular accelerations applied to the system. Since it requires no external reference (after initialization), it is immune to jamming and deception.Inertial-navigation systems are used in many different types of vehicles, including aircraft, submarines, spacecraft, and guided missiles. However, their cost and complexity does place constraints on the environments in which they are practical for use.Gyroscopes measure the angular vel

ocity of the system in the inertial reference frame. By using the original orientation of the system in the inertial reference frame as the initial condition and integrating the angular velocity, the system"s current orientation is known at all times. This can be thought of as the ability of a blindfolded passenger in a car to feel the car turn left and right or tilt up and down as the car ascends or descends hills. Based on this information alone, he knows what direction the car is facing but not how fast or slow it is moving, or whether it is sliding sideways.Accelerometers measure the linear acceleration of the system in the inertial reference frame, but in directions that can only be measured relative to the moving system (since the accelerometers are fixed to the system and rotate with the system, but are not aware of their own orientation). This can be thought of as the ability of a blindfolded passenger in a car to feel himself pressed back into his seat as the vehicle accelerates forward or pulled forward as it slows down; and feel himself pressed down into his seat as the vehicle accelerates up a hill or rise up out of his seat as the car passes over the crest of a hill and begins to descend. Based on this information alone, he knows how the vehicle is moving relative to itself, that is, whether it is going forward, backward, left, right, up (toward the car"s ceiling), or down (toward the car"s floor) measured relative to the car, but not the direction relative to the Earth, since he did not know what direction the car was facing relative to the Earth when he felt the accelerations.However, by tracking both the current angular velocity of the system and the current linear acceleration of the system measured r

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