Inertial measurement unitAn inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers. When the magnetometer is included, IMUs are referred to as IMMUs. IMUs are typically used to maneuver modern vehicles including motorcycles, missiles, aircraft (an attitude and heading reference system), including unmanned aerial vehicles (UAVs), among many others, and spacecraft, including satellites and landers.
Inertial navigation systemAn inertial navigation system (INS) is a navigation device that uses motion sensors (accelerometers), rotation sensors (gyroscopes) and a computer 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. Often the inertial sensors are supplemented by a barometric altimeter and sometimes by magnetic sensors (magnetometers) and/or speed measuring devices.
VelocityVelocity is the speed and the direction of motion of an object. Velocity is a fundamental concept in kinematics, the branch of classical mechanics that describes the motion of bodies. Velocity is a physical vector quantity: both magnitude and direction are needed to define it. The scalar absolute value (magnitude) of velocity is called , being a coherent derived unit whose quantity is measured in the SI (metric system) as metres per second (m/s or m⋅s−1). For example, "5 metres per second" is a scalar, whereas "5 metres per second east" is a vector.
Inertial frame of referenceIn 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.
Frame of referenceIn physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points―geometric points whose position is identified both mathematically (with numerical coordinate values) and physically (signaled by conventional markers). For n dimensions, n + 1 reference points are sufficient to fully define a reference frame.
Root mean squareIn mathematics and its applications, the root mean square of a set of numbers (abbreviated as RMS, or rms and denoted in formulas as either or ) is defined as the square root of the mean square (the arithmetic mean of the squares) of the set. The RMS is also known as the quadratic mean (denoted ) and is a particular case of the generalized mean. The RMS of a continuously varying function (denoted ) can be defined in terms of an integral of the squares of the instantaneous values during a cycle.
AccelerometerAn accelerometer is a tool that measures proper acceleration. Proper acceleration is the acceleration (the rate of change of velocity) of a body in its own instantaneous rest frame; this is different from coordinate acceleration, which is acceleration in a fixed coordinate system. For example, an accelerometer at rest on the surface of the Earth will measure an acceleration due to Earth's gravity, straight upwards (by definition) of g ≈ 9.81 m/s2. By contrast, accelerometers in free fall (falling toward the center of the Earth at a rate of about 9.
AmplitudeThe amplitude of a periodic variable is a measure of its change in a single period (such as time or spatial period). The amplitude of a non-periodic signal is its magnitude compared with a reference value. There are various definitions of amplitude (see below), which are all functions of the magnitude of the differences between the variable's extreme values. In older texts, the phase of a periodic function is sometimes called the amplitude. For symmetric periodic waves, like sine waves, square waves or triangle waves peak amplitude and semi amplitude are the same.
MetreThe metre (or meter in American spelling; symbol: m) is the base unit of length in the International System of Units (SI). The metre was originally defined in 1791 as one ten-millionth of the distance from the equator to the North Pole along a great circle, so the Earth's circumference is approximately 40000 km. In 1799, the metre was redefined in terms of a prototype metre bar. The actual bar used was changed in 1889. In 1960, the metre was redefined in terms of a certain number of wavelengths of a certain emission line of krypton-86.
Attitude and heading reference systemAn attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for aircraft, including roll, pitch, and yaw. These are sometimes referred to as MARG (Magnetic, Angular Rate, and Gravity) sensors and consist of either solid-state or microelectromechanical systems (MEMS) gyroscopes, accelerometers and magnetometers. They are designed to replace traditional mechanical gyroscopic flight instruments.
