Strapdown Inertial Navigation

In course

Description

This lecture covers the principles of strapdown inertial navigation systems, focusing on the transformation of accelerations and attitudes in different frames, the use of rectangular and trapezoid strapdown navigation, and the application of higher-order Runge-Kutta methods.

Instructor

Official source

https://mediaspace.epfl.ch/media/0_extmvfdr

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Related concepts (43)

Lorentz transformation

In physics, the Lorentz transformations are a six-parameter family of linear transformations from a coordinate frame in spacetime to another frame that moves at a constant velocity relative to the former. The respective inverse transformation is then parameterized by the negative of this velocity. The transformations are named after the Dutch physicist Hendrik Lorentz.

Trapezoid

In geometry, a trapezoid (ˈtɹæpəzɔɪd) in USA and Canadian English, or trapezium (trəˈpiːziəm) in British and other forms of English, is a quadrilateral that has at least one pair of parallel sides. The parallel sides are called the bases of the trapezoid. The other two sides are called the legs (or the lateral sides) if they are not parallel; otherwise, the trapezoid is a parallelogram, and there are two pairs of bases. A scalene trapezoid is a trapezoid with no sides of equal measure, in contrast with the special cases below.

Galilean transformation

In physics, a Galilean transformation is used to transform between the coordinates of two reference frames which differ only by constant relative motion within the constructs of Newtonian physics. These transformations together with spatial rotations and translations in space and time form the inhomogeneous Galilean group (assumed throughout below). Without the translations in space and time the group is the homogeneous Galilean group.

Inertial frame of reference

In classical physics and special relativity, an inertial frame of reference (also called inertial space, or Galilean reference frame) is a frame of reference not undergoing any acceleration. It is a frame in which an isolated physical object—an object with zero net force acting on it—is perceived to move with a constant velocity or, equivalently, it is a frame of reference in which Newton's first law of motion holds.

Rectangle

In Euclidean plane geometry, a rectangle is a quadrilateral with four right angles. It can also be defined as: an equiangular quadrilateral, since equiangular means that all of its angles are equal (360°/4 = 90°); or a parallelogram containing a right angle. A rectangle with four sides of equal length is a square. The term "oblong" is occasionally used to refer to a non-square rectangle. A rectangle with vertices ABCD would be denoted as .