2.2.1.3 Inertial Navigation System 172-177

UNITEAM TRAINING LIMITED Course Code:
Lecture Note for the Examination Course of Electro- UT-ENG-DMA-031

Technical Officer (STCW Reg. III/6) Rev-00
2.2.1.3 Inertial Navigation system
2.2.1.3.1 Inertial navigation system
Inertial navigation system is a dead reckoning type of navigation system that computes its position
based on motion sensors. Once the initial latitude and longitude is established, the system receives
impulses from motion detectors that measure the acceleration along three or more axes enabling it to
continually and accurately calculate the current latitude and longitude. Its advantages over other
navigation systems are that, once the starting position is set, it does not require outside information,
it is not affected by adverse weather conditions and it cannot be detected or jammed. Its disadvantage
is that since the current position is calculated solely from previous positions, its errors are
cumulative, increasing at a rate roughly proportional to the time since the initial position was input.
Inertial navigation systems must therefore be frequently corrected with a location 'fix' from some
other type of navigation system. The US Navy developed a Ships Inertial Navigation System (SINS)
during the Polaris missile program to ensure a safe, reliable and accurate navigation system for its
missile submarines. Inertial navigation systems were in wide use until satellite navigation systems
(GPS) became available. Inertial Navigation Systems are still in common use on submarines, since
GPS reception or other fix sources are not possible while submerged.
An inertial navigation system (INS) is a navigation aid that uses a computer, motion sensors
(accelerometers) and rotation sensors (gyroscopes) to continuously calculate via dead reckoning the
position, orientation, and velocity (direction and speed of movement) of a moving object without the
need for external references.[1] It is used on vehicles such as ships, aircraft, submarines, guided
missiles, and spacecraft. Other terms used to refer to inertial navigation systems or closely related
devices include inertial guidance system, inertial instrument, inertial measurement units (IMU)
and many other variations. Older INS systems generally used an inertial platform as their mounting
point to the vehicle, and the terms are sometimes considered synonymous.
Dead Reckoning, a type of navigation from a known starting point, and then by using vector
information (direction and speed) against a clock an estimate of the current position can be made. An
Function Competence Knowledge & Understanding of Teaching Hours

2.3.1 Maintenance and repair of bridge Navigation
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INS will calculate a continuous dead-reckoning position. Position accuracy is dependent on the
accuracy of vector information and the time since the last known position.
Inertial Platform, refers either to the self-referencing gyro-stabilised platform on which the
accelerometers are mounted, or refers to the aircraft, or the neutral aircraft position (pitch, roll and
yaw axes), to which a strap-down inertial navigation system is firmly attached.

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Inertial Reference System (IRS), refers to a solid-state unit of three Ring Laser Gyros detecting
accelerations in 3 dimensions; they may also contain quartz accelerometers.
Inertial Reference Unit (IRU), refers to a computer that integrates IRS outputs and provides inertial
reference outputs for use by other navigation control systems.
Gyroscope/Gyro has traditionally referred to mechanical spinning gyros set within gimbals and
frames allowing a platform to be stabilised in space regardless of the motion of body which
attached.Nowadays the term Gyro usually refers to a solid-state Ring Laser Gyro (RLG), which is
predominantly used in modern aircraft INS.
Inertial Navigation System , nowadays is predominantly used to describe an Inertial Platform,

Inertial Reference System (IRS) and Inertial Reference Unit (IRU); and often used to describe all
three of these units (as one system) .
Inertial navigation is a self-contained navigation technique in which measurements provided by
accelerometers and gyroscopes are used to track the position and orientation of an object relative to a
known starting point, orientation and velocity. Inertial measurement units (IMUs) typically contain
three orthogonal rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity
and linear acceleration respectively. By processing signals from these devices it is possible to track
the position and orientation of a device.
Inertial navigation is used in a wide range of applications including the navigation of aircraft, tactical
and strategic missiles, spacecraft, submarines and ships. Recent advances in the construction of
micro-electromechanical systems (MEMS) have made it possible to manufacture small and light

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inertial navigation systems. These advances have widened the range of possible applications to
include areas such as human and animal motion capture.
An 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 acceleration and angular velocity 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 moving objects, including vehiclessuch as
aircraft, submarines, spacecraftand guided missiles. However, their cost and complexity place
constraints on the environments in which they are practical for use.
Gyroscopes measure the angular velocity 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.
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).
Error
All inertial navigation systems suffer from integration drift: small errors in the measurement of
acceleration and angular velocity are integrated into progressively larger errors in velocity, which are
compounded into still greater errors in position. Since the new position is calculated from the
previous calculated position and the measured acceleration and angular velocity, these errors
accumulate roughly proportionally to the time since the initial position was input. Therefore, the
position must be periodically corrected by input from some other type of navigation system. The
inaccuracy of a good-quality navigational system is normally less than 0.6 nautical miles per hour in
position and on the order of tenths of a degree per hour in orientation. If navigation systems
malfunction, they can send planes off course.

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The MK39 MOD 4A provides both high accuracy geographic position information, with or without
GPS, and precise attitude and heading data needed for fire control stabilization and weapons
initialization. The MK39 MOD 4A occupies 50% less deck space than our previous models, utilizes
enhanced Digital Ring Laser Gyro technology, and is certified for submarine applications due to its
extremely low noise signature.
Northrop Grumman Introduces New Marine Gyro-Based Inertial Navigation System
1. The MK 39 Mod 4A Ring Laser Ship's Inertial Navigation System, the latest generation of its
MK 39 family of navigation systems based on the company's proven ring laser gyro (RLG)
technology.
2. . Setup and diagnostics are now done via a network-based application instead of a remote
control display unit, requiring one less piece of dedicated hardware. Fully configurable serial
and Ethernet ports use the NMEA 0183 electrical specification standards and offer high-rate
binary messages, satisfying the needs of legacy systems. These ports also use the same inertial
measuring unit (IMU), which allows common sparing with earlier models.
3. A Windows-based control and display application allows the operator to observe the status of
the navigator and all reference devices, such as the global positioning system and the speed
log, by connecting a computer to any location on the ship's network. The user interface design
provides all of the data necessary to make navigation decisions in a single view.
7.
8.
4. Using commercial off-the-shelf (COTS) electronics streamlines supply chain logistics.
Flexible Linux-based navigation software enables the use of COTS electronics and reduces
the time to bring software and hardware enhancements to market.
5. Separating the sensor and navigation processing components presents new architectural
possibilities. The Mod 4A electronics unit can support a wide variety of IMUs with different
accuracy levels and environmental constraints. This enables more commonality and upgrade
potential for all ships in a given fleet, even if they have different system
requirements.
6. Further benefits include low acquisition and life-cycle costs; high reliability and low
maintenance; hands-off operation that does not require operator intervention; and fewer circuit
boards, reducing the need for spares. The MK 39 Mod 4A is not affected by rapid changes in
external magnetic fields, assuring high accuracy regardless of location. The RLG sensor offers
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a proven mean time between failure of more than 200,000 hours.

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2.2.1.3 Inertial Navigation System 172-177

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2.2.1.3 Inertial Navigation System 172-177

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UNITEAM TRAINING LIMITED Course Code:

Lecture Note for the Examination Course of Electro- UT-ENG-DMA-031