A methodological use of inertial navigation systems for strapdown navigation task

摘要

This paper presents a study of mathematical description for inertial navigation systems and integration of virtual sensors implementation. Virtual sensors allow to estimate quantities detecting events or changes in its environment, to calculate variables such velocity, position and attitude on rigid or mobile bodies of navigation systems. Recently, the creation of smaller devices and lightweight micro-machined electromechanical systems (MEMS) has opened the possibility to create artifacts that solve the positioning and orientation problems of navigation systems. This has increased the interest on topics of inertial navigation systems, typically in areas as artificial vision and robotics, especially on mobile robotics. The basic idea of mobile robotics is defined by transportation to reach an object or a specific position. Therefore it is necessary to provide environment value in real time for interpretation. This paper presents an implementation of navigation systems and a design of a Strapdown Inertial Navigation System (INS). Consequently, a simulation is conducted to verify and compare the performance between the implemented INS equations and a MATLAB SIMULINK 6DoF Euler Block. Furthermore an analysis of the simulation results is performed.