Purpose: The purpose of this Knowledge Base document is to inform end-users of the methods that are used by Inertial Labs for determining Angular Random Walk, Velocity Random Walk and Bias Instability for the MEMS-based Accelerometers and Gyroscopes used by Inertial Labs in the IMU-P.
Topics: IMU-P, Velocity, ARW, Angular, Random, Walk, VRW, Bias, Instability
Last Updated: February 2020
Purpose: To highlight the benefits and limitations of using aiding data for the Inertial Labs Inertial Navigation System (INS).
Introduction:
The purpose of this article is to explain the benefits of using aiding data when operating an Inertial Labs Inertial Navigation System. For many applications, there is knowledge of position, orientation, or velocities that could be valuable during periods of GNSS outage. This additional information can be delivered to the Inertial Labs Kalman Filter and provide extended operation when other aiding data is not available. Unfortunately, the lack in understanding of how to use this data to benefit the user creates a lost opportunity for higher quality results, therefor this briefing will outline the benefits and overall types of data than can be of use for the Inertial Labs Kalman Filter.
Topics: external, Data, DVL, Aiding, Wheel, Odometer, Wind, Sensor, Gyrocompass, Doppler, Velocity
